Starman's Quest by Robert Silverberg

They adjourned to a small tavern three doors down 68th Avenue from the games parlor, an old-fashioned tavern with manually operated doors and stuffed moose heads over the bar. Alan and Hawkes took seats next to each other in a booth in back; Steve sat facing them.

The barkeep came scuttling out -- no robot in here, just a tired-faced old man -- and took their orders. Hawkes called for beer, Steve for whiskey; Alan did not order.