We take our kids to nice restaurants. Restaurants that are considered expensive in our small town... total bill about $300 with tip and people thank us for our well behaved kids... then again, they’re home schooled.
We’ve been complimented on our kids behavior as well, and that was when they were really little.
OTOH, they LOVED to eat out and KNEW that if they acted up, it wouldn’t happen again. Plus, crayons and a coloring placemat provided by the restaurant go a long way to relieve the boredom waiting for the food.
It’s a weird thing, I think that people both expect too much and not enough out of their kids at the same time. Kids can rise to the level you set for them, but they are, after all, only children and do not have the self-control that adults do. Sometimes you have to work within their limitations. IOW, start out at family friendly restaurants where their behavior isn’t quite such an issue and no REALLY fancy restaurants until they were mature enough to handle it.