Choose the form by the noun right after the verb: one thing or an uncountable amount takes is there, more than one takes are there. So Is there a doctor here? but Are there any free seats?
is there if a singular or uncountable noun follows, e.g. Is there any milk left?
are there if a plural noun follows, e.g. Are there any cafés open?
Are there is the correct question form in formal writing whenever the noun after the verb is plural, as in Are there any cafés open?
Check the noun right after there. If it names one thing or an amount you can't count, ask Is there...? If it names more than one, ask Are there...? The verb follows that noun, never there itself.
Asking about one thing: Is there a pharmacy near the station? A pharmacy is singular, so the verb is is.
Asking about an uncountable amount: Is there any milk left in the fridge? Milk can't be counted, so it still takes is.
Asking about more than one thing: Are there any free seats on the train? Seats is plural, so the verb is are.
Contrast in the same situation: at reception you might ask Is there a parking space available?, but booking for two cars, Are there any spaces available? The noun you're asking about changes the verb.
Choose the noun that matches what you actually want to know. If you're picturing several places but only ask whether one exists, Is there a café open? is correct, because a café is the noun you named. If you want to know whether any of several are open, name the plural: Are there any cafés open? Once you've named a singular noun, stick with is there; the verb follows the noun, not how many you're thinking of.