Based on the above existing designs and the basics of layouts, I drew the following wireframes for the layout
Always-on sidebar with hero section: This could be beneficial if the service needs space to upsell, add more white space, or information. It seems like this approach will not be needed due to the limited options available. Furthermore, there is little need to establish the context in this case and it would be beneficial if ordering was free of friction.
No navigation: This simply shows the user all options. This is a naive approach and may need more structure.
Always-on sidebar for categories: This approach is similar to the self-help kiosks used by McDonald’s. It has a small side navigation to categorize the available options. This approach seems ideal for this type of display.