My dog does not lick her arse then a plate.
I've seen kids in cafes and restaurants with their hands down their pants. Mine doesn't but others do. I've seen kids, including my own, with their finger up their nose. We tell her not to but that's a thing all kids do. Those fingers then touch other things in said cafe/restaurant and unless the parents are antibac wiping everything, those things will then be touched by another human.
I have child and dog and I treat my dog like a dog, but we still love her and take her on days out, which sometimes require a lunch stop. (Some) cafes allowing dogs in means that over a third of the households in the country are catered for on family days out. How is that a bad thing?
People should be keeping their dogs AND children under control in these establishments. Dogs because that's the right, sociable, thing to do and kids because they won't learn how to behave in them otherwise. But there are people who don't want dogs in places and people who don't want kids there.
Both are allowed if the owner of the establishment says they are, if you don't want to go places where they're allowed, that's fine, go somewhere else. I don't want to eat places where people like OP will openly call me a c* and wish my dog dead, so I won't.