I think you should suit yourself and go where you are comfortable. Life is short so you should do what makes you happy.
We had no trouble finding places where we were welcome, and we succeeded in raising children who are comfortable in a wide variety of environments and who respect other people’s rights in public places. That was what we wanted to achieve and we did.
I respond to people who lump any group and say for example all children can’t behave in restaurants, all women are catty, all Jews are money grubbing, etc etc etc.
Instead of going out, maybe they should spend some quality time at home with their kids.
My parents took us to nice restaurants, but we were not allowed to act up. It can be done, but I see people who are just so self absorbed they don't think about anyone else.
We rarely go out, my husband is hard of hearing and it's just not enjoyable anymore. With or without little ones.