The version that stays inside the rules is one sentence and one link, used with everyone.
Google lets you create a review link and a QR code from your Business Profile, on a computer. You can put that code on the receipt, on a card at the counter, or at the end of a thank-you message you already send. The customer opens Google and writes if they want to.
What you must not do is offer a coffee, a discount, or a prize in exchange for a review, or for taking a bad one down. You must not run an in-house 1-to-5 survey that only opens Google after a 4 or a 5. You must not put up a sign that asks for five stars. You must not give staff a quota, or ask people to name an employee in the text.
Google also says not to pressure someone for a rating while they are still on the premises. A printed QR they can use later is different from hovering at the table.
If the visit went badly, that person may still go to Google. You can take the complaint in private. Hiding the public link from them is the filter Google forbids.
Use the same wording on a quiet Tuesday and on Saturday night. “If you have a moment, here is our Google page” is enough. “If you enjoyed it, leave us a 5” is not.