En place de: Il ne faut pas que nous mangions avec nos doigts, puisqu'on dire: I faut que nous ne mangions pas avec nos doigts?
Jim is correct. You are negating "falloir" (aka, "the necessity of") rather than "manger". It would sound very strange to a native French speaker to hear "il faut que nous ne mangions pas...".
I hope this is helpful.
Bonne journée !
If we take I faut que --> It must be that .. or It is necessary that...
The negation of falloir rather than manger seems to me to carry more of a forceful rebuke that the action of eating with the fingers is absolutely unacceptable -- the negation of the verb manger seems a more milder rebuke although amounting to the same message.
I see the above as being the point to keep in mind
Hope this helps,
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