I think it’s not possible with a direct link to the pdf. But maybe I have found a workaround for you:
So basically you could create a site for each menu-card and then use the embed-Element from Webflow to embed the PDF like shown here to your page: PDFObject: Embedding PDFs without using PDFObject
This way you would have control over the title and URL of the page.
Then just link to the page instead of the PDF.