Plenty of counters and tables available but my sims keep setting food on the floor. Esp if I cancel out "serve food" action. Is there mod to fix so sims will always find a table or counter to put the food on instead of the floor?

They'll always do it if you cancel serve food, because they stop doing everything. They'll drop babies or toddlers on the floor for the same reason; they're no longer performing the action regarding them. Apart from that I've never had problems with them not putting food on available counters/tables. Sometimes if someone else is blocking the counter they'll give up on it and drop the food. I usually just pick it up myself and stick it on the counter.