You should feel terrible. They're just trying to do their job while you're making it awkward at best. This was always one of the most annoying things to deal with.
-Just put your card on the menu when you hand it to the waiter after ordering.
-when you use the washroom, find the waiter and give them your card.
-Talk to your friend before the check comes. Offer to pay, if no then go 50/50 or separate checks. They probably feel as awkward as you would if they paid.
That could apply to both these douchers