My son and I are gluten-free and really enjoy characters, relaxation &/or a unique atmosphere at Disney meals, so it's usually table-service for us. Here are my favorites:
Magic Kingdom
TS: Dinner at Cinderella's Royal Table, mainly because of the rarified atmosphere of eating in the castle (food is average). Runner up: Crystal Palace breakfast
CS: Be Our Guest lunch
Nearby resort honorable mentions (all TS): Breakfast at Chef Mickey's in the Contemporary; Ohana's in the Polynesian; Hoop Dee Doo Revue dinner show at Fort Wilderness
Epcot
No favorites yet in the park, but Akershus was a nice princess TS breakfast.
Nearby resort honorable mention: Yachtsman Steakhouse at Yacht Club Resort is excellent signature TS.
Animal Kingdom
TS: Tusker House breakfast
Nearby resort honorable mention: Sanaa at Animal Kingdom Lodge Kidani Village, like that it's not too-Americanized Indian food with good view of animals, plus can hang out & view animals before & after the meal. (I don't recommend Sanaa for your "unadventurous friend", though.)
Hollywood Studios
TS: Sci-Fi Diner, we loved the simulated "drive-in" experience and very tasty food!