I always shake my head when people suggest "human food" isn't good for dogs. The dog food industry hoodwinked us fast on that one. Kibble is new, not even 100 yrs ago few types were made and few folks fed it. Dogs ate scraps, they hunted, they survived. I am not saying kibble isn't great, especially if you buy the top brands with the best ingredients. What blows my mind is often the same saying people food is bad won't often bat an eye at someone feeding Ol' Roy or Kennel Ration.
It takes thousands of years for things to change even a little bit on the molecular basis. Dogs have eaten REAL food from the beginning of their development. A good balance of their diet doesn't have to be more complicated than feeding your kids or self balanced meals. I am far too lazy to cook for my dogs unless one is sick (and then we're talking bland starch/protein ie rice/chicken etc). But their love of raw meaty bones is almost a primitive joy and again, feed fresh and they are fine for the most part. Want to cook your own food, get a nutritionist recipe or guideline and go for it.
But… many years ago I read a vet's article on sharing bites of your food with your pet. He said not only was it okay, but he felt important. He said in days of old dogs ran free and partook of a wide range of things, not all of them good. Dogs today confined and our keeping them on one food all the time had to be boring for a creature with such developed senses. He said not only sharing a variety (small bites) of YOUR food would give your dog happiness, it also helped their digestive systems to accommodate variety. Being long before the internet, just a newspaper opinion piece, I can't tell you for sure he was right. But it feels right and at no point in my entire life were family dogs as a child or dogs now denied some table food. (Unless it's lobster, especially dipped in butter, or such dangerous foods.)