Not once since chip and pin arrived arrived in restaurants.
And how much of that security do you really think is attributable to chip-and-pin and how much is attributable to the fact that your card never leaves your sight?
You are right, much of the security of chip and pin would have been achieved by mandating portable card terminals. Before chip and pin it was normal for them to take your card to swipe it though the till. With chip and pin they have to bring the terminal to you and the card.
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Remind me to change my signature to something more interesting someday