I know some Black Servers who hate having their tables filled with that group that doesn’t tip.
Yes, it’s a problem. I once saw an excellent article in a business magazine directed at women (who also tend not to tip) telling them that now that they were not just watching the family budget but were responsible for the corporate image, being cheap was not a virtue.
The article pointed out that you wanted your clients or whoever you were taking to this business lunch to have a pleasant time, not see your company as nervous and poor, and not see you as somebody who thinks so small that “saving” a few dollars on a tip was a point of pride. If you go to a place regularly, of course, which most businesses do, you have to be particularly careful to maintain a good relationship with the staff.
The article pointed out that many women (this was a few years ago) were new to positions of responsibility and hadn’t readjusted their social behavior yet. I think this may apply to all of the groups who are stingy tippers and difficult restaurant clients.