Is it really so awful that I feed my pets "people" food?

I always hear that you should not feed your pets table scraps or “people food”, but I always have. My family always has, also.
I feed my dogs eggs, raw and cooked veggies (they love carrots), fruit (they steal apples and pears right out of the yard that have fallen from the trees), meat, raw bones.. even cheese on rare occasion. In many cases they do get dinner leftovers, but I never allow them to have takeout or fast food. I have a friend that is always trying to feed them french fries and it drives me nuts.
All of my pets get plenty of exercise and only one of them has a weight problem (which is a cat that has been enormous since he was a kitten, of course he doesn’t get the same snacks as everyone else).

I don’t see how this can possibly be worse to feed them than strictly kibble. Am I wrong?