As the father of a current bartender/waitress and the husband of a former I'd like to say: please don't use the servers as a lever to change this thing, because if they couldn't rely on tips they couldn't do the job. And then I thought about it a bit. The question I don't have an answer to: if people stopped tipping tomorrow, and the average tip was distributed somehow into the price of the food, would establishments…
In purely effectiveness terms, that's why they are the perfect lever—in the current pay regime, they can't afford to do the job without tips, so a sufficiently broad practice of withholding tips that renders them unreliable for even the workers that would previously thrive under tipping will force labor pressure on businesses to end the current tip-expected pay regime and collapse the tipping system.
Now, the interim state might be near-apocalyptic for servers, but it there is probably no more effective way to bring the tipping system down.