Will it be proper to occasionally eat at the table to please my parents or grandparents?

Answer

The Sunnah should not be abandoned to please anyone. It is a lesser sin to default on the Sunnah because of nafsaani weakness than to neglect a Sunnah for pleasing someone. To sit at the table for a proper meal to specifically please others, be they parents, is a serious offence. It will be abandoning the Sunnah for the pleasure of people.