Why not go anyway and enjoy your friend and having someone cook for you. You can do that while feeling uncomfortable at the same time. It will be good practice.

You could you tell your friend about this and see if s/he might offer you some reassurance and make a plan with you about leaving or stepping outside the restaraunt if you start to feel uncomfortable for few minutes.

One way to overcome the discomfort is to give yourself opportunities to try it out from time to time. When you do and you have good experiences, the memory of the good experience is there to draw on the next time you are considering doing something like this and it will be easier to say yes and to feel comfortable about saying yes; it will also feel more comfortable doing it.

Your worry of feeling uncomfortable doing this is because you're taking something that happened before and expecting it to happen again.. but maybe it won't :-) . Thing is, you won't know til you do it. Go, and see how it goes; focus on being with your friend who you are comfortable with in general.

Maybe you didn't say 'no' because deep down you didn't want to. You wanted to say 'yes' and go and have fun. Then anxiety came along and started making you thing that this time will be like other times, when in reality this time hasn't happened yet.

Trust that this is one of those times you will be okay and then see what happens, instead of deciding ahead of time how it will be when you really can't know that.

I hope you go and see how it goes!