I have a 7 yr old with ASD and ADHD. To be honest, at 2 there are a lot of kids who don't deal well with cafe type situations and my DS at 2 had many a meltdown in confined spaces like that. But actually, at the time we were living abroad where people eat out a lot more and are generally more tolerant of children, so we started going occasionally, then increased it gradually, and yes there were many times when one of us would have to sit with him outside, but we persevered and now he is fine in that kind of environment. Although in the early years, we did resort to having him watch peppa pig on our phones, but we ignored the tuts and actually, with time it has become ok and I would say he is actually very well behaved now providing we plan ahead and bring lots of things to keep him occupied and make sure we don't go to the type of place where the food might take ages etc.
There are still places we don't even contemplate going and our holidays, days out etc are to an extent tailored around what DS will cope with (eg length of journey, type of holiday etc) but for the most part, we do what we would have done anyway, but just slightly adapted it. So we still go out, but prefer letting the kids run around in a park as opposed to organised activities where they have to sit for prescribed lengths of time, as this doesn't tend to end as well. But we do still try to do things that are outside of his comfort zone because if we don't try, he'll never get the opportunity to overcome what he may be struggling with.
You can most definitely still have a life, and a good one at that, you just have to alter what you consider 'normal' and find activities that work for all of you. But I would recommend still trying to do some of the things that might initially fill you with horror (eg cafes) and ignore those who tut and shake their heads, because even kids with SN can get used to other situations, it might just take longer.