Just do away with tips. It's a terrible and stupid system. If you want to do it as a customer, go ahead, but it should never be considered as part of the employee's compensation. If people aren't willing to do the job for the hourly wage alone with no tips, raise the wage until they are.
What I dislike about a culture of tipping is that in effect it's a transfer of wealth from the generous+agreeable customer to the greedy+disagreeable+shameless customer. I still advocate tipping since it's a nice thing to do and probably improves your happiness, but I think it's healthier in the context of a no-tipping culture where wages are sufficient and baked into the price of the service.
No it’s not. You would not tip any less if you knew there were other people at the restaurant who had no intention of tipping.
It’s strictly a lost potential income to the server when they land a cheap customer. It may not actually cost them anything at all if it’s not busy and they were able to take on the additional customer without losing a potentially higher paying customer slot.