This is a public restaurant! I understand you may be attached to your dog and it shouldn't really be sitting in the car but you should have left it at home. Personally I don't want to have dog hair in my food even if the dogs kept in its carrier it's not appropriate.
100% should be able to if they don't allow your yorkie thats a huge problem. It can be a service dog it can be and emotional support dog. Ect. Even if it's none if those as long as its quiet and on seat or under table, should be no problem at all.!!!! I've be brought my Yorkie jn to countless high-end restaurants!!!! No problem ever.!!
NO
Yes, if it is an ADA compliant service dog. If it is your pet, no.
Maybe outside
I doubt it if it's not a registered service animal.
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