Obviously, I like a Tavola, I nominated it for a
GNR. 
Setting that aside, though, I think they're just different places. The menu at RoSal's is heavy on Italian-American red-sauce standards, a place that's more Sinatra-esque Italian, along the lines of Rosebud, Tuscany, etc. Big menu of pasta dishes, chicken parmagiana, chicken marsala, etc.
A Tavola is more focused, more "true" Italian -- no Sinatra playing, no big huge portions of pasta, no chicken parm, no marsala anything. The atmosphere is quieter, the room is more refined, but comfortable and unpretentious. The wine list won't have an abundance of Chiantis, but instead, some nice regional Italian wines that you won't find everywhere else. The menu is smaller, but more creatively and deftly executed. Thus, where you should go should depend upon whether you think your companions will appreciate big portions of Italian-American mainstays in that type of an atmosphere, or whether they'll appreciate an experience that's more sophisticated, authentic and urban.
Personally, the only Italian-American "joint" that really stands out to me is Sabatino's, in part, because it's so over the top. Other than that, I prefer the relaxed atmosphere at A Tavola over any Italian-American place any day of the week.