The way you teach is different and sometimes it doesn't matter how much you try, the nature of your child's sn means they don't have the ability to modify their behaviour any more than a blind child could learn to see.
My children (well adults now, they're in their 20s) both have autism and my youngest also has ADHD. We removed them from situations where they were behaving in a disruptive manner and we were unable to get them to behave appropriately.
As I said, many times we threw them over our shoulders and abandoned half eaten meals.
They learned to not run round etc in restaurants. They learned to not yell etc. (We also learned what situations it was unfair of us to put them in in the first place. )
They behave very well now in restaurants. They understand the rules and they understand what happens if they don't follow them.
Also we are more experienced now and can tell when they are unlikely to be able to cope based on what we know triggers them and also through assessing their mood at that moment and we don't subject them to something we have good reason to believe will result in situationally inappropriate behaviour in the first place.
Not every child with sn will ever be able to do that but you're still left with the same two choices.
Remove them from situations they are unable to deal with or stay and let them behave in a way that is objectively speaking extremely disruptive to others.
We chose to leave. Yes because it was unfair to others but also because our children were clearly not coping and it would have been selfish and disrespectful to our children's challenges to keep them in a situation that was beyond their ability to cope with (sensory overload) just so we could carry on the activity.
It reaches a point where that is simply cruel.