Possibly. It's very popular and you may miss out on a table.
I would suggest calling them and making a booking; it is a very popular venue and you may struggle to get a table otherwise.
Taylor's is very popular for lunch and breakfast. They have lots of seating but do sometimes get full. I have seen people waiting for up to 15 minutes for a table to be free. I would only book if I was going on a special day, e.g. Mothers Day.
If it is only a table of four people it should be okay, but if you have a larger number of people then perhaps phone them first. Remember to buy your bottle of wine at a nearby winery as they do not sell wine at the cafe. Bon appetite :)
They do take bookings. I'd suggest you do to avoid disappointment, Sunday is the busiest day.
When we were there in September they were very busy and did take bookings. We couldn't get in for brunch one Sunday without a booking :(
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