I totally get that parents want to get out the house, socialise etc but are you really going to reduce this argument down to /wanting/ to do something? Because you know people will respond with all the things they /want/ to do but don't because of respect and consideration.

Parenting take time and practice. It is unreasonable to expect zero crying while in public.

As the parent takes the kids out more to restaurants and cafes, the kid will slowly learn how to behave. But it’s a process that takes time.