The restaurant industry has known the solution for a long time but everyone wants to pretend it would be too difficult. Stop the tipping guilt trip placed on the public, raise your prices 20%, and pay your employees a livable wage. The public will still show up to eat in your restaurant.
Food is expensive enough as it is, if restaurant prices went up 20% overnight I would never go to one again. Tipping is irrelevant for fast food.
Also, I consequently completely avoid chain restaurants. I haven't entered McDonald's since 2008 or so.