Walk-ins to a restaurant

Wife and I are going to Tokyo/Osaka in May. I don’t want to fill up our itinerary with reservations since many people recommend exploring. Is it hard to find restaurants without having to wait in long lines where we’ll be if we get hungry for something? i.e. random craving for Yakiniku in Asakusa? (Maybe Instagram has ruined my perception of what dining in Japan is like)

by enj3n

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