Hello, Veronica!
Currently, the only restaurant at Walt Disney World that allows you to order ahead of time is Be Our Guest Restaurant during the lunch dining hour. You do need Advanced Dining Reservations, and you can order your meal starting approximately 30 days in advance.
As an alternative, it may be helpful to know exactly what you would like to order so you may do so as soon as you are seated. You can view restaurant menus online for both Counter-Service and Table-Service locations simply by selecting your desired restaurant and choosing 'view menu'. This is an extremely helpful planning tool that I use constantly for my own family visits to Walt Disney World. You can also let your server know that you have limited time and they will try to do the best they can for you.
If you haven't done so already, check out the Planning for Preschool Kids & Little Ones for helpful resources for traveling with little ones. My moms panel friend Lynne also has some great tips on dining with little ones at Walt Disney World.
Have a magical day, Veronica!
~Rachel
Visit Walt Disney World Resort to explore the magic.
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