"There is a restaurant."
Ilana145213, (1) Yes, we can! Example: يُوجَدُ مَطعمٌ جديدٌ
(2) The difference is that, when we write the sentence with يُوجَدُ, it becomes جملة فعلية (verbal sentence) which implies التجدد و عدم الثبوت (temporary) whereas هناك مطعم is جملة اسمية (nominal sentence) which express الثبات والإتصال الكامل بالشيء (permanent).
Forgive me for the Classical Arabic terms, until now I've found many difficulties to write English-translated comments, and I don't understand much when people say about Arabic Grammar with English logics, fell free to ask if you still have some question. :))