You do NOT have to valet there! I've never used their valet service there and go pretty regularly.
Last time we were there for Sunday brunch there was no valet. Dunno if they got rid of it for dinner as well.
My suggestion is:
a) with drinks talk to your server. They are very good at matching your mood, wants and desires to a menu item.
b) with eats read the descriptions and go for something you find interesting. My view on the place is they put a lot of thought into what goes on the menu and sort of have objectives in mind for creating / recreating certain things. See what they have going on and apply that to your own interests.
Love me some H. Harper.