Guests want to pay at the counter on the way out rather than at the table. Can the counter POS take a table's money?

Yes. Nothing about a table lives on one device, so the counter POS shows the same floor as the waiter's phone. Tap the table on the counter, and its tab opens with every round on it. Press Charge to take the whole table, or Split the bill if they want to pay separately. The table closes itself when everything is paid. The Tables, tabs and the kitchen screen tab in the docs covers charging a table.