WordPress Custom Post Type – show only certain posts that have specific taxonomy set

So basically your question can also be put as: show all posts if the post have been assigned any term from taxonomy.

SO this code shoudl do :

$args = array(
    'post_type' => 'food_dish',
    'tax_query' => array(
        array(
            'taxonomy' => 'menu',
            'field'    => 'name',
            'terms'    => array('premium', 'children', 'concept'),
        ),
    ),
);  

If you feel that in future more ters will be added to taxonomy ‘menu’ then you can retreive all terms for taxonomy term and assign them as an array to terms in tax query