One of the best solution which good compromises I've seen recently, is Swiss Bitcoin Pay (SBP) which propose a hybrid solution between custody and self custody. You fill an on-chain address (think they are working on XPub integration and maybe even BIP47 in the future) in the settings and the lightning part is managed by SBP. At the end of each day you receive an on-chain tx corresponding to the receipts of the day for no fees.

The boss or manager control the accounts, and each waiter/waitress just has to scan a QR code on the manager's device to be linked to the same account and begin receive payments on their own smartphone. Thus the manager has a view on all the receipts in real time, and no one can still the money as it's only a POS and only the manager has access to the broader dashboard and account settings...

Best solution so far in the place IMO