Fuck this is a difficult one.
Tipping culture is a throwback to slavery times and is very typical of the predatory nature that exists within employment in the US. The position that customers need to pay a tip because the server needs a liveable wage that isn’t covered by employers and built into law is essentially being held hostage due to an unfair system.
That said, waitstaff depend on this for a liveable wage and by not paying the tip, you’re denying that worker fair income. It’s not their fault directly, it’s the system they are under.
Looking from the outside, it comes back to the same thing; the reluctance of Americans to engage in building a decent society by collectively voting to build that, rather than voting or even not voting at all to take care of themselves. Again, it’s another case of ‘you get out what you put in’. A 60% voter turnout reflects the quality of what’s been elected and makes it easy for bad actors to get what they want, especially when their base does turn out.
To get those things, they need to at least vote and vote for people who will give them the things they want like legislated, decent wages. Sometimes it also means some hardship or compromise. Here, that means wait staff would be giving up the potential of big tips for the benefit of decent wages and perhaps healthcare.
Personally? Of course I’d tip them; I’m in Rome so I’d do as the Romans do and I’m aware that's their income. I’d also feel like I was held hostage by a shithouse, predatory system brought about by Americans lack of care for their own people though.