I've eaten at Tepenyaki once. It's like most of the Japanese steakhouses, they have horseshoe shaped seating around a hot grill. The restaurant itself seemed to have tight quarters so it was a little tough to get to our table. At the table I removed my footrests and was able to then sit right at the table/bar. I don't think there is an opening at the bottom of the table so the options for me were to remove the footrests or sit sideways. The table itself though was pretty much at a normal table height, maybe slightly higher.
I don't know if you can see Illuminations from inside Tepenyaki. Tepenyaki is at the back of the building. At the very front with a good view of the show is a small lounge area where they serve drinks and some food. Then there is the tmepora place and then behind both of them is Tepenyaki.