To achieve this you need to use only 1 table for the proposal items.
- Create table – 6 columns by going from the editor menu Table->Insert Table. Your table should looks like in the screenshot. The tax % must exists in Setup->Finance->Taxes
- While you have the focus on the table click on the icon Table Properties
- A popup will be shown and like class name select Items Table
- Click OK and save the proposal changes by clicking inside the editor Save Proposal
- Click the button Convert and choose Estimate or Invoice the items should be auto added.