Having lived in Japan for a long time, I kind of dread visiting America because of the whole nonsense of tipping (and lot of other reasons, really). There's simply no concept of it here and yet the service is excellent. I don't know what the typical wage is but I know people who work in service jobs and seem to have a lot more disposable income than their counterparts in the US. I also know people who work as servers…
I've worked as both a server and a delivery driver, and even after having left both jobs I'd still be in favor of tipping because I think it incentivizes the worker to do well at their job. The US simply doesn't have the same culture Japan has. That said, travelling to the US shouldn't be handicapped by a fear of tipping. Don't tip, or do, but not going because of it is an unfortunate choice.
edit: I was thinking about how to award good employees and I think it's simple: give a small paper form at the end, where people will provide ratings for the service provided. Not all of them will fill them, of course, but I think you will get some feedback about who are your best employees and who are the worst. Also, regarding tips, how do they help the kitchen staff (in the restaurants, you can find other examples on other businesses)? That sistem isn't fair.