Yes, I take mine out when I want to embroider. I usually just set it on the counter.
Sew Steady makes most of the acrylic inserts. If the table is big enough, you can just get one of their extension tables, and don't use the legs. This gives you the option to use the table stand alone. If you need a bit smaller size pick one of their inserts.
http://www.sewsteady.com/