See, having only one child, then I don't think about the logistics of having multiples and trying to juggle all the different age groups. I can imagine that it would be tough to have a family outing when their age difference range from infant to whatever. You sound fortunate though to have raised respectful children. They behave in public and when they act up and are inappropriate you deal with it instead of letting it drag on to disrupt everyone.
I understand where you are coming from because we were always able to take DD to restaurants. Didn't matter if it was a chain restaurant, a family place or some place nice. She always behaved herself. Never cried, jumped around or made noises. She would just sit and color or talk to us. There are people out there who can't take their kids out to eat because they act like animals and I think we may have seen a thread or two about that.