It’s crazy that this still happens in the US. Tipping is a thing of the past. Pay for your meal and have the restaurant pay their people for their work. End of story.
Not sure you know what tipping is, but it's not paying for the meal. It's paying for the service.
1. I like being able to pay for better service
2. Despite what people like to think, everywhere in the world has appreciated tips. I've never had a waiter refuse extra money. Literally dozens of countries, you get better service if you tip.