Taking kids out to eat is a crap shoot, really. I'm a big advocate of "let the parents parent" and staying out of other people's biz w/ their kiddos. On one hand, you can have very well behaved children who do well in any setting but on the other hand, have mini-monsters who can ruin a nice evening out.
As a parent of a 4 year old and an 8 year old (both boys), I've learned to recognize my kids limits and not to push them. Our oldest boy can hold his own in a conversation with adults and knows manners - I seldom have to remind him. Our youngest is developmentally delayed and is just reaching the point where we can go to McDonald's or Friendly's with success.
In short: If I want to have a good time, I simply hire a sitter or go to a restaurant where I know they'll behave appropriately. Or I stay home!
Remember, the families that are in restaurants are also there for a good time.
