If the table was placed off the lot, I don't believe you will be able to pick it up without the use of a mod. Your best bet is to recover an older version of the save where the sim hasn't yet placed the table and just not do the action. I'm going to list a link to a help page for you, but the only problem with this suggestion is that you may have already saved enough times that you won't find a save prior to the sim taking the action.
Here is a link to an EA Help page to guide you through the process: The Sims 4 - How to restore a past saved game in The Sims 4
other than this my only other idea is to move the household, select "pack furniture" and hope it gets packed along with the other million items they have.
