We go to the playground after lunch to burn off energy and allow time for digestion before potty time.
Limits those naptime accidents and they sleep well.
We eat in the dining room. "Go play toys" occurs in the playroom that they just left after 45 minutes of free play. They are over it and it removes their audience.
I have great eaters and the occasional moody 3-6 year olds that need reminding I am immune to tantrums.