It has been confirmed that Magic Kingdom's Cinderella’s Royal Table will be welcoming guests back with modified offerings beginning later this month on September 24, 2020. However, in a statement Disney has also announced that when it reopens this restaurant, it will no longer feature characters, saying in part via statement  on the official restaurant website that:

The princesses will be taking a break from their royal duties greeting Guests, but there will be plenty of delicious fare and fun to be enjoyed in this beautiful, one-of-a-kind restaurant.

Though there have been some modified character dining experiences available at Walt Disney World since it began reopening back in July, it looks like the latest character-focused restaurant to welcome diners back will not be bringing this feature back for the time being. 

Though we'll probably see the princesses return at some point, while concerns about actor safety amid the COVID-19 pandemic are ongoing, we'd expect this to be the "new normal" at Cinderella's Royal Table for at least the remainder of 2020, and possibly into next year as well.  You can view the menu and make reservations for this dining location beginning next week on September 11 at the restaurant's official website  here. 

Disney has also confirmed opening dates for additional restaurants at the theme parks including Gaston's Tavern on September 4; Hollywood & Vine on September 25 (with limited "distanced" character interaction) and ABC Commissary on October 8.