Hi there! I hear you - Shopify POS out of the box can be tricky to work with when you need a POS for a cafe or need complex product modifiers, but it’s such an awesome robust system for online & general retail sales! We have recently developed an app to try and solve this problem for a client, and we released it on the Shopify app store last month. It’s called POS Cafe & it allows you to set up modifier sets (like milk types, sweeteners, etc) for your products. It’s early days and we’re constantly rolling out new features - we haven’t quite cracked order tickets automatically printing yet (Shopify has not allowed developers access to the receipt printer in Shopify POS), but have some workarounds we are trying with some of our merchants. We’re really passionate to work with merchants to support you guys & get feedback on the features you really need to make it efficient and effective for you. Feel free to check us out on the Shopify app store & let us know if you have any feedback 
https://poscafe.app | https://apps.shopify.com/poscafe
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