We also like to eat out and we never did compromise. Sounds hard but actually it isn't.
When the oldest had his 7th birthday he wanted to go eat in a michelin star restaurant which we did. It appeared that it was too soon for him. But we even took the youngest 4 at that time with us!
Both now (10 and 7) do have their favorite restaurants.
The oldest really enjoy tasting new food, while the youngest is picky.

Only if we go out to a star restaurant we did make sure that they have a sleep over! That unfortunatly happens only 2 or 3 times per year!

I do have to admit that an ipad really helps sometimes :)