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Do you mean when sims sit on the ground to eat from the picnic basket? If I remember right, the picnic basket can also be used on a table/picnic bench but that doesn't sound like it makes sense for what you want to do with the basket being a table itself.
Some pictures with what's happening and how you want to change it might be helpful, but from what you've explained these are my thoughts:
1. You can edit the animations, though it would also affect how sims eat with regular picnic baskets. You'd have to override the CLIP(s) and copy over any events stored in the CLIPs with S3PE's Grid view (there's an
S3PE addon that lets you do it, if you don't already have it) and possibly IK target information
2. I'm not sure if you could make the plate rest on the table/picnic basket without editing the script and stuff (like if it's coded to have the sim eat with the plate in their hand when sitting on the floor) which brings me on to
3. It wouldn't be easier if editing the animations does the trick, but if that doesn't work how you need it to, then making a new custom object based on the picnic table might be the best way. It would involve scripting and making a jazz script but I think it should be possible, just quite a bit of work especially if you are new to modding
Hope this helps