My kids didn't step foot in a restaurant until they old enough to have basic table manners. They had a sitter or went to their grandparents. I didn't want my meal ruined or anyone else. The family dinner table is a place of learning. They learned to say grace, have proper manners, talk with adults, expand their vocabulary, and probably most importantly they learned about history and current events. They also learned patience. They were excused from the dinner table after everyone was finished their meals. One other thing about eating at home or in a restaurant - no cell phones or devices.
This was never a problem. If you set clear and reasonable expectations everything falls into place. My kids never knew any different.