Make no mistake, tipping continues in America because most Americans like the system. If you don't like to tip, there are plenty of restaurants where tipping isn't expected; specifically those where you carry the food yourself from the counter to your table. If enough people hated tipping, restaurants that don't have tipping would eventually out-compete those that do. They may yet do so, but presently most of the pub…
The problem is the incredibly low wages employers are allowed to pay at tipped establishments. Federally that wage is $2.13 per hour. https://www.dol.gov/agencies/whd/state/minimum-wage/tipped
I don't blame someone for wanting and accepting more... It just feels weird to tip when the service is baseline, vs say a waitress where they take your order, bring drinks, refills, corrections, additions, etc. and generally with a pleasant personality.