The best option is:
C The waiters, dressed in their white jackets, are already arranging the chairs on the sidewalk.
This sentence is correctly punctuated with the appropriate use of commas to set off the non-essential clause "dressed in their white jackets."
Option D also has correct punctuation but could be improved with the use of commas:
D My friends, who often have shared interests with me, still keep in touch with me via social media.
So, the most correct answer based on punctuation is C, while D could use minor revisions.