Quarterdeck- exceedingly family friendly (pet friendly, too). Very much local, very diverse menu. (Burgers, ribs, sushi, good salads). A short walk to the north.
Mezzaluna is also very, very good, but may be more than you want.
15th Street Fisheries downstairs is o. The water. If you’ve got young kids, they could have a good time feeding the tarpon. It’s a short Uber or taxi ride or a long walk. Perfectly safe. I grew up there.
I can’t tell you how many times I’ve biked it, walked it, canoed it (when it flooded), just a long mostly residential street- apartment buildings.