Ok, more responses.
Cory - Did you say you'd tried giving him easier to eat food? You say he has sandwiches for lunch, could he have an adapted form of whatever you're having for supper so that he can have it in a sandwich?
Pisces - "The mother is endlessly bending over backwards to make the DC's life easy by anticipating problems and heading them off." "I don't think it is a good lesson that they can make a mess in a cafe and it is OK because poor old mum will clear it up or the staff-if you are brave enough to walk out and leave it." "I really don't think you should spend your life tiptoeing around your DC worrying about upsetting them. You should have normal life-if you are the hot headed passionate type there is no harm in showing it. I think that it can be good to have a shout and show that it doesn't alter your love."
Ok, as I said, talking about consensual living here, but you're still misunderstanding what I'm talking about. It's not consensual if you, the parent, isn't happy. So if you don't want to pick up torn up napkin, then you find a solution that means you don't have to. It's not about bending over backwards to appease the children, it's about all working hard together to try to ensure no one is coerced or self-sacrifices. This gets easier the more practice you get and, of course, the older your children get. And you are right, you're not doing your children any favours if you're not genuine them - they need to know about being cross because they will be very insecure adults if they don't learn that they are still loved even after you've been cross with them, simply because you've never been cross with them!
OSOTC - "Having said that, some of the possible solutions suggested on here would feel like too much of a sacrifice to me. But I don't have any problem with telling my children that. They do need to listen to my needs and wishes too. But I think this compatible with UP."
Absolutely - not consensual if someone's making a sacrifice or compromise.
I think the point is that, if you feel that it is immoral and potentially harmful to coerce children simply because they're children and you're an adult, then you will make the effort to find common preferences. Just like, if you feel that it is immoral and potentially harmful to not do punishments you will make the effort to think up suitable ways of disciplining your children. Parenting is hard work and you will not do any good at all if you aren't willing to put in the hard work whatever approach you choose.