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Good restaurant for an awkward dinner

My two divorced parents are visiting me (I live in Brooklyn) on the same weekend. This will be the first time they're interacting with each other in a long time, and they're not particular fond of each other. Can anyone recommend a restaurant that would make this (probably extremely awkward) dinner the best it can be? Needs to be in Brooklyn, nice-ish, not small/sharing plates based, and ideally servers that really know how to guide a table. help please!

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