Sometimes you can do it and sometimes you can't: most of the Taco Bell locations in NYC are franchisees, which means that you gotta ask for the sauce, since its behind the counter where they work. But the one on 14th street near Union Square is company-owned, I know that because they serve Baja Blast and have sauce packets up for grabs in the open. Half a year ago I got shitload of their sauces, brought them home and squeezed them into squirt bottles