Looking for sitcom I saw in the 2000s

Back in the early to mid 2000s I caught an episode of a sitcom(pretty much it was on one of the three major broadcast networks or Fox, though it also could've been on UPN, it definitely wasn't WB though) briefly, it had two couples out to a dinner at a restaurant with one of the guys saying they were getting the Lobster, then we see one of the couples getting up and talking outside of the bathroom about their relationship before going back to the table.

Does that ring a bell for anyone?