I'll join you. I think I understand what you're looking for, an experience one can no longer find. My mother used to take us to certain independently owned restaurants, usually serving something other than burgerfriespizza.

One ordered a drink while reading the menu. The waitress brought bread or an table-share hor d'oeuvre. Food was served in courses; soup, salad, entree, dessert. Dessert was part of the meal, not optional. However; one could ask for sherbet or sorbet instead of the house dessert.

Waitstaff did not clear the course until the last fork was down across the top edge of the plate. The bill was not presented, until signaled for by the host of the dinner, usually the person who ordered the wine.

My mother took us to these restaurants for brunch or lunch, to teach us manners, polite behavior in public, and how to interact with waitstaff. She did the same when we went shopping, and I can remember a time where one was served a cup of coffee or tea while shopping in a Salon not a ready-to-wear store.

Mom could not afford dinner, so lunch. Waitstaff knew each table would be there an hour, so tipping meant something and the owners of the restaurant were greeting and seating you, they often would greet you by name. There were no child friendly mini-theme parks in the restaurant. None of the chain restaurants named in comments, are this type of restaurant.

There are two from my childhood I remember very well; Ted's and Sid's By The Seaway. Bon appetit 🍹