Maybe you guys could've gone inside to order instead so your daughter didn't have to clamber over seats?
I'm sorry to hear. I have social anxiety too and I have a shit of a time trying to order things or ask store employees for help. Yours must be a hundred times worse if you struggle in a drive-thru. I hope you can get help. Your daughter is a sweetheart for doing that for you and she obviously cares and understands. Good luck, OP.