Whenever I'm at a restaurant, I want to just run up and eat other people's food.
That's stealing! Why not just order your own food?
Because I want to try so many different dishes!
It is wrong to eat other peoples food when you are out dining. They paid for that food and deserve to eat it how they want. You can ask to have a sample plate at most places so you can try a wide variety of food.
People don't like having other people eat their food?
No, people don't like that! They paid for that meal and they expect to get to eat the entire thing. You walking up and eating some of it is stealing and is going to upset anyone you do it to.