This is quite simple, but I learned how to properly use ShapeBinders in FreeCAD to do it so it doesn't break with adjustment. Unfortunately I have to edit the freecad file to make adjustments so for the time being this is set to 5mm height boost and suits table legs that are 21.5mm steel pipe.
But the idea is applicable to many different wobbling tables so you can do likewise once you learn FreeCAD part design workbench.
Two important notes:
The author marked this model as their own original creation.