How so? The waiter gives me the menu, takes my order, gives me recommendations if I ask, brings me the food, checks up on me to make sure I am happy, and collects my payment. There's no difference between that from one restaurant to another.
you may only talk to the waiter anywhere you go, but there are many more people involved in fine dining establishments and they all get a piece of the tipping pie.
my point is, if you can't afford to tip 15-20% of any restaurant you walk into, don't go there. lord knows i only go to upscale NYC steakhouses on very special occasions.