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.
I'm from the UK and travel in the US a lot and US service is much better. I've never had to chase up the check or had to go and search for staff to serve me after sitting there for ten minutes. These are common occurrences in the UK for me.
Ideally, tipping wouldn't exist and everything would be priced in, but pragmatically, incentives grant extra benefits to both parties. Potential for more money for the server, better service (and the ability to punish bad service) for the customer.
(I know everyone making similar observations is getting voted down, so I appreciate I may simply be far off the bell curve on this and the majority experience the total opposite. But it's my reality.)