Why not just raise prices by 20%, pay the waitstaff at least minimum wage, put big signs up that say "NO TIPPING" and leave it at that?
You seem to lack faith in the efficacy of ambition.
But since you seem to prefer fast food places, why do you care?
Do you really want people who make minimum wage waiting on you? Really good waiters and waitresses do the job because they make good money. The better they are at their job, the better restaurants they can work at, the more money they make.
A top line restaurant can bring a waiter several hundred a night in tips. And since tips are pooled, good wait staff tend to appreciate each other’s skills and will get a bad waiter fired if they are getting bad tips for bad service.
Waiting is one of the few team oriented work environments outside of sports. And winning teams make good money.