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Nearly half of Americans say tipping has ‘gotten out of control’
(www.independent.co.uk)
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That's how it works at restaurants and cafés outside of the USA, or at least how it used to work.
Outside the USA, when the bill is paid with cash, the customer will keep any notes from the change given and the coins are left on the table, it's not much, but a token show of appreciation.
Now that cash is rarely used, tips are pretty much never given unless it's something unusual, like a work function or something else where the staff have a little more to concentrate on than they normally would.