Then I suggest you boycott restaurants that do not pay a living wage - either that or accept the unwritten understanding that a tip is what gives the staff a living wage.
Either way (restaurant pays or you pay directly), you’ll pay more.
I have left tips that equal my meal cost when it was appropriate which is too often. Oh, and I have no problem paying more for a decent meal so that the owner would pay a livable wage in keeping with their skill level to their help. Most every other industry I do business with does it that way so why should a restaurant industry be any different?