I think that part of the problem is the Federal minimum wage for servers hasn't gone up, or at least since I have been in the restaurant business and I started in ~'88?? Granted servers in the US do make tips but unless those menu items and average bill has gone up as well, servers are basically making the same amount that they were 30+ years ago. Unless you are working at high end restaurants or you are turning tables 3+ times a night every night it is hard making ends meet.
I have been on holiday in Spain a couple times and there tips are not necessary and if you do it is only a dollar or two, and service there was as good there as it is here. For people to think that you have to tip a server for them to do their job is just an excuse. How about making a decent wage, loving what you do, and wanting to keep your job to do a good job? I don't expect to get tipped at my current job to perform the way I do. I didn't expect to put out good food for tips when I did work in restaurants, I did it because I love cooking and wanted to keep my job.
There is also this:
American tipping is rooted in slavery—and it still hurts workers today
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