They have high chairs at all the restaurants. I've seen guests, especially at BOG being directed to stroller parking. Unless there are special extenuating circumstances.
In BOG they let me bring my stroller (not an umbrella stroller) in for lunch. In fact when we checked in, I asked where to park my stroller and they said to just go ahead.. I was thinking I would have to park it before going through the door, but didn't see any, so went in, ordered our food, and found a table. Nobody said anything to us. Halfway through our meal, we also saw another family come in with a stroller as well. Maybe we got lucky?
I think most generally, no. I've ALWAYS had to park the stroller at BOG. The only time I was allowed in a restaurant CS or TS was when my child was sleeping. Another time was at CHH and it was at dinner. I think maybe 5 tables were occupied in the whole restaurant so no one was standing at the door to stop us and I don't think anyone cared.
I've seen an occasional stroller in QS places, but not many. So, I think it's probably one of those things (like so many other things at WDW) that MIGHT happen, but I wouldn't go in planning on it.
They might, but chances are you won't even make it through a door before a CM informs you where you can the stroller. BOG let's you park right outside the door (unless it's packed, then you'll need to move it out past the walkway near check-in stand). Pinocchio's and other inside-CS restaurants usually have stroller parking right outside the establishment as well.
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