Yep, I do these days. Never used to, but nowadays, the standard of food is often shockingly poor so I pull up my big girl pants and make them swap it, especially now that eating out is so expensive.
Undercooked meat is very common, especially chicken which is often still raw/pink in the middle because most of it is frozen, but yes, many places are incapable of cooking steak well done - either it's still pink inside or it's cremated.
And yes, cold food is also too common, especially "sides" where they've clearly been sat on the side waiting for the main element to be cooked. The kitchen staff don't seem to know how to co-ordinate different elements anymore.
I've even taken to insisting that fast food places like Burger King, KFC and MaccyD's replace cold food, especially cold/soggy fries, that they leave out on the side whilst waiting for the burger or whatever to be prepared.
Unless people make a fuss, cafes, restaurants and takeaways will continue to serve up crap!