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The mushroom kingdom cafe does have a closed up section for royals, one where dress code isnt really a thing, though to enter you must be a trusted part of the royals.
Of course, one would exoect great manners, but its not uncommon to see the princesses engage in friendly belching contests or Food fights. Just look at this! Blaze about to nail Alphys with a thick pie and she is jusy loving the mess, while Princess Daisy in her elephant transformation is already smashing a pie in Wendy's face. All without any sort of clothes, because clothes are for chumps! Let your belly free!