The kiddie table works really well for us actually. My 3 yo does the touching and bugging sometimes during lunch but she is sent from the table and this works.

I wouldn't want to add a larger table, it will just take up more room and I am trying to get away from that! My 18 mos old sits well at the kiddie table and can get up and down easily. She is tall and so this helps. I think I'll try the harness if it becomes a problem. She is very food centered so she maybe too focused on her lunch to try anything.