It’s not my job to pay the server, the restaurant should pay employees.
I tip everywhere that service matters, not just restaurants. If I go where I’m not known and the service REALLY matters, I also tip in advance.
Tipping is optional but so is exceptional service. If you never tip, whoever helps you will only do the bare minimum that they can get away. No hourly employee in any service industry cares about keeping you as a customer unless you tip well. They simply see you as another cheap client to get rid of as soon as possible.
If you’re fine with that attitude in all the service you receive, feel free not to tip. As for me, I prefer to be a ‘regular’. In some places, employees fight over who will get to service me.