Waiter presents me the machine, I insert my card or wave it over the NFC reader of the machine, if I insert the card, machine always ask for pin, if I use NFC, it will ask sometimes based on some obscure criteria.
For really expensive transactions, eventually, I may get a notification on my bank app in the phone, asking me if I am really, really doing this, I authenticate with biometrics and click ok.
it is not that hard.