Before you have kids, you see parents in a restaurant and think... man why can't they ____ (sit still, behave, listen to their parent, whatever). One thing I've learned with Blake is they just are not good at the wait time. As an adult you don't think about how much down time there is going to a restaurant. Think about it... you wait to get seated, then you wait to place your order, then you wait for the food to come, then you FINALLY eat, then you wait for the check... oh now you can leave. At home... you can play while the meal is being made, then sit down to eat, and often get up shortly after you are done.
Richard and I have come to the conclusion that until Blake and baby #2 are a bit older.... counter service is the way to go!