We were at Big Bubba Bad BBQ in Paso Robles, CA (great food) and they had a cardboard condiment holder on the table, by Budweiser no less. It kinda of looked like a six pack holder but was sturdier and a little bigger. It didn't have the bottle dividers, so it wasn't as limited as to what you could carry.
I told the waitress they were pretty cool and wish I had one for my RV. She dug one up and gave it to me. (She got a nice tip too).
Another nice thing to use to carry things from the RV to the picnic table is a sturdy tray. A cookie sheet with a 4 sided lip can also double as a tray too.