So what will you do if your children trip another customer and make them drop all their food? Will you offer to replace it for them? If your child causes someone to injure themselves or someone else when they trip over your child (a simple fall can cause a nasty fracture, or hot coffee could cause a serious scald if spilled on someone) - will you accept responsibility? If your child trips someone up and gets hurt themselves, I assume you won’t be complaining or expecting any apology from the person they tripped.
I had three boys, and took them to cafes when they were the same age as your children - and younger - and I made sure they behaved themselves - it is called parenting, and it is your job.
McDonalds is an excellent place to start teaching your children how to behave in cafes - no long waits for food, food most kids love, and an informal, child-friendly atmosphere - but child friendly does not mean playground, as you seem to think. You need to start teaching your children how to sit and eat nicely - you can start teaching this at home and practise it when you eat out.
Start by setting expectations - namely you sit and eat your meal without getting down and running around. You can go to the loo if you need to, but otherwise you sit and eat nicely, then you get to go and play. It won’t be an overnight success, and you will have to work at it, but it is perfectly possible.
When you do go out to eat, remind your children about the Rule - sit and eat, no running around - and reward them when they achieve it. “OK, Bill and Ben, we are going to McDonalds. You can’t run around the table, and need to sit and eat your meal nicely. If you do sit and eat nicely, you can have a McFlurry”. If they start to act up, remind them that not behaving nicely = no ice cream - and follow through.
We used to get compliments from restaurant staff on how nicely our boys behaved, even when they were younger than your children. By the time they were teens, we could take them to fine dining restaurants and be confident that they would be good company and a credit to us.