Customers lined up for a taste of the famous burgers and fries on Cleveland Avenue just off Highway 99.
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The city's mayor, Santos Garcia, visited the restaurant on Thursday for the soft opening.
The division manager of the restaurant says he's glad to finally bring In-N-Out to the people of Madera.
The new location hired 80 employees prior to opening.
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The company says it's always looking to add more people to its team.
The new Madera location is open from 10:30 am. to 1 am.