I take my children to restuarants for lunch not dinner unless a special occasion. We have done this since my first was a baby, and went through a period of about 6 months when she was 2 of avoiding them as she was hard work!
But, she is now 5 and she has benefited from the continued experience, and DS aged almost 2 so far is good in restuarants.
They only learn how to behave by going to them in the first place, if you avoid it, how will they ever know how to behave?
England is pretty uptight about children, and quite intolerant imo. I have been to lots of restuarants in France, Spain, USA where they are so much more accepting of children in restuarants, it is far more normal so there is much less annoyance from other customers as many have their own children with them. They are also better catered for, in terms of child friendly food, in USA they give boxes for leftovers so no wastage, crayons and toys to play with, staff who don't ignore them, places to put pushchairs, decent highchairs. One place I went to had a great car seat holder so young babies could sit at the table in their car seat.
However, I do pick the places I go to with care, I think about the type of place it is, what type of people will be eating there, will they be ok with the children getting down from the table, do they have space to allow me wander up and down with a 2yo before the food arrives, will I feel terribly embarrassed by the mess they might make (which I clear up). Do they do food that my children might eat, will the experience be stressful or will it be a good thing to do, can the children break anything that is around on display? And we do not stay for 3 course meals but rather, eat, read the paper a bit then go.
Doing this regularly meant we could go out and have a fab evening meal to celebrate our wedding anniversary recently. The food was good (not cuisine, but did not expect that with children), there was a lot of space for the children to walk around and they made it perfectly clear they were happy with this. There was the pub/eating area which was casual/formal or the restuarant eating area with set tables, wine glasses and people having intimate meals. We opted for bar area so as not to disturb the others, and the kids and we had a great time without causing chaos and my children were perfectly well behaved. When they started to get fractious we were ready to leave.
England is pretty uptight about children, and quite intolerant imo. I have been to lots of restuarants in France, Spain, USA where they are so much more accepting of children in restuarants, it is far more normal so there is much less annoyance from other customers as many have their own children with them. They are also better catered for, in terms of child friendly food, in USA they give boxes for leftovers so no wastage, crayons and toys to play with, staff who don't ignore them, places to put pushchairs, decent highchairs. One place I went to had a great car seat holder so young babies could sit at the table in their car seat.
At the end of the day, I have children. I am not going to stop my life and doing the things I enjoy because I have them, I am going to share those things with my children, just adapt how I do it.