From my understanding (non-native English speaker) "Is there ...?" and "Are there ...?" are generally used for Yes/No question to ask for the existence of something; for example, "Are there vegetarian options in Restaurant X?"
I'm not sure if this can always be done, but in many case I can rephrase the question like "Does Restaurant X have vegetarian options?" As far as I can tell, both formulations are not only grammatically correct but also "semantically equal".
However, consider the question "Are there many people at Restaurant X?". While one can also ask "Does Restaurant X have many people?", this doesn't sound quite right, i.e., I would argue that most people wouldn't ask like this (although it's grammatically correct).
My guts can tell me the difference between these to examples, but are there any more concrete reasons when "Is there" and "Does ... have" can be used interchangeably to ask for the existence of something?