Thanks - overwhelmed with so many great suggestions. We’re going to have to squeeze in a few extra meals! 
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I would suggest Nobu is over-priced and has not lived up to the hype the times I’ve eaten there in different cities. It’s also Japanese food—not the picky teen’s Italian/Mexican. It’s a chain also, if that matters to you. I have never been to the Nobu in NY but have eaten at Nobu in several other cities.
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The question is would you be willing to eat indoor? Some of those restaurants could be crowded.
I like this Brooklyn water front restaurant with very good outdoor dining (with heater), Cecconis.
Don Angie also has good outdoor dining, but can be hard to get a reservation.
Grand brasserie is good for seafood. They have a quasi outdoor dining but kind of indoor. 
I am a New Yorker, but I am not quite prepared to eat I door yet. But it’s just me.
Tao, both uptown and downtown are very cool and young people would love them but they are completely indoor.
Balthazar used to be one of my favorites down in soho, but I haven’t been since Covid.
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Just wanted to note that to eat indoors in NYC one must be vaccinated so (assuming you are all vaxed) be sure each person brings his/her vaccination card (or a photo of the card) along with a photo ID to any restaurant.
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Check out Veselka, it is fun and a great spot for celebrity sightings, it is in the East Village, you can grab a cup of Yi Fang bubble tea on the way to or from the NYU area. Saint Marc is a good traditional French Brasserie. There are so many interesting choices in the area, but you can always hop on subway and hit other areas too.
One of the fave NYC experiences - PJ Clarke’s drinks and dinner, followed by the concert at the Met or Lincoln Center. Sit by the window!
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Tao downtown - they would love the atmosphere - really cool trendy vibe
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Stroll over to the West Village and try Anton’s. Great food (Italian/Mediterranean); on Hudson St, which is itself a nice street for people watching; and a really nice outdoor area with heating lamps. Nice, but not uncomfortably fancy and very popular with the locals.
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We usually try and squeeze a trip to John’s in Times Square. They have terrific, traditional pizza in an old converted church. It looks like a regular, brick building in the middle of a city block until you walk in and look up. Not too fancy but just a fun experience!
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These recommendations are amazing! Saving this thread for when my D and I make a trip to NYC! Enjoy, Illinoisparent12!
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One more! We love Frankies 457 Sputino in Brooklyn.
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Last time I was in NYC (January 2020) my daughter (who lives in Brooklyn) took me to Boulud Sud. It’s one of Daniel Boulud’s restaurants that’s near Lincoln Center (we were going to a show there). The restaurant features Mediterranean food. I loved the chicken tangine. Highly recommend it. (I assume it’s still open.)
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If I were traveling to a particular restaurant, I’d check Yelp and call the restaurant to be sure they are still open, what their location, hours and policies are. Some places have cut back on hours, some have moved and some have closed—temporarily or permanently. Some have outdoor seating, some don’t. Some accept/require reservations, some don’t.
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My suggestion is for the totally unadventurous with a sweet tooth: Max Brenner’s in Union Square. My kids loved it when they were younger. The menu is big, but with mostly basics, and their desserts are so fun. It’s close to NYU.
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Max Brenners is definitely a fun place, especially for teens.
Seems obvious that’s what one should do given Covid? Am I missing something?
Max Brenner’s is a good idea - I was thinking about that place but couldn’t remember the name. There are a couple similar places in the city but that would be a good choice.
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My teens liked Black Tap and Sugar Factory.
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Thanks again to everyone for so many great recommendations. I’m going to consolidate a list based on your suggestions and let the teens pick out where they want to go for our one dinner all together. Then my daughter and I can hit a few of the more adventurous places on our own!
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Black Tap and Sugar Factory are both great choices too!
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