The bank will debit the Restaurant for the $5.00 - cause banks are like that. Follow up with the restaurant if you want, chances are it was an honest mistake, but it's always good for a restaurant to get feedback.
And, as a former restaurant manager I can tell you that there's no way I'd comp you a meal over a $5 overcharge. I'd probably offer ten or twenty percent off your next meal, unless you acted like it was the worst thing that's ever happened. In that case, you'd get nothing.
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