How would you draw these legs?

Go to the Patch environment. Create a sketch line at the table top, then create another sketch line at floor. Now use loft to connect the 2 lines. Adjust the G1 curvature as you'd like. Now thicken.

I tried drawing them flat and upright. Then copying the first one twice and placing them 120 degrees apart. Then rotated the pitch 40 degrees. And tried to push the 3 pieces together. No luck so far.

You could draw the start/end rectangles, make a 3d spline between them, and loft with the 3d spline as your guide line. You need to “enable 3d sketch geometry” in preferences to get the guide as you want it