I always find this subject a tricky one as my kids aren't neuro-typical - eldest has Aspergers and comes across as aloof and rude but he's having a rough time with sensory overload and shuts down.
Middle child has learning disabilities and ADHD, autistic traits yet to be diagnosed and low IQ with a social and emotional age of a child half his age.
Youngest has epilepsy, a brain malformation and suspected ADHD but he's too young for assessment as yet.
Eating out is a minefield .. if we've been cooped up all day owing to someone's anxiety or the youngests illnesses then they are all pretty keyed up and a little wired so I'll always head to a pub type place with a play area - odds are if there's room we'll eat inside the play area.
If they have had a good day and we've had successful excursions before hand and everyone is still capable of focusing we might be more adventurous in our location but I always warn the staff and ask them to seat us away from people clearly on a date or quiet adult meal.. I'll also consider I quietly giving the people around us a heads up.
I honestly do try to limit the disruption caused and if I can sense a spiral into chaos I'll will simply remove the offending child and have their food packaged up and they'll finish at home. I never ever go anywhere with all three of them alone as middle child is a one to one so there's always another adult to supervise the others if one child needs more attention.
With all that said I refuse to keep my children ushered away from 'normal life' they've every right to enjoy eating out, cinema trips, travelling on public transport - with that will come some noisy outbursts or vocal tics or bizarre unpredictable behaviour. However if one of them was in a wheel chair no one would be complaining about that being in the way, if they needed a hearing aid not one person would find offence or if they needed a guide dog everyone would be all 'awww'.
Their invisible disabilities are still disabilities and ignorant discrimination based on judgement of a situation you don't know all the ins and outs of .. is still discrimination.
Perhaps if we all just talked to each other, asked an harassed looking parent if they're ok or if they need anything rather than if they could possibly try harder to control their offspring .. we'd have less nasty encounters 🤷🏻♀️