pos/pos_place/views/view_pos_config.xml

<?xml version="1.0" encoding="UTF-8"?>
<!--
Copyright (C) 2013 - Today: GRAP (http://www.grap.coop)
@author: Quentin DUPONT (https://twitter.com/pondupont)
License AGPL-3.0 or later (http://www.gnu.org/licenses/agpl.html).
-->
<odoo>

    <record id="view_pos_config_form" model="ir.ui.view">
        <field name="model">pos.config</field>
        <field name="inherit_id" ref="point_of_sale.pos_config_view_form" />
        <field name="arch" type="xml">
            <xpath expr="//field[@name='module_pos_restaurant']/../.." position="after">
                <div class="col-12 col-lg-6 o_setting_box">
                    <div class="o_setting_left_pane">
                        <field name="use_pos_place" groups="pos_place.group_pos_place_manager"/>
                    </div>
                    <div class="o_setting_right_pane">
                        <label for="use_pos_place" groups="pos_place.group_pos_place_manager"/>
                    </div>
                </div>
            </xpath>
        </field>
    </record>

</odoo>