Great, that's not as convoluted as it first sounded and should fit my use case.
In terms off accessing the custom fields of the restaurant from within the order fulfillment would it work something like this:
Restaurants:
$child_posts = types_child_posts('order-fulfillment');
foreach ($child_posts as $child_post) {
$rest_id = wpcf_pr_post_get_belongs($child_post->ID, 'restaurant');
$rest = get_post($rest_id);
echo $rest->post_title;
echo $rest->wpcf-restaurant-phone;
echo $rest->wpcf-restaurant-email;
}
where i have custom fields for restaurants with slugs restaurant-phone & restaurant-email.