I see a big difference between factory food (McD) and real made to order. Also keep in mind in the factories there’s a lot more division of labor, the guy at the counter did NOT make your food, a guy in the back did, maybe your guy up front dropped the fries in the vat, but in this self serve drink world they didn’t even get that for you. The barista probably took AND made your order. They devoted significantly more time specifically to you than the entire store does.
Then there’s the real question of if you don’t think this person is worth one extra measly dollar why are you letting them make stuff you’ll put in your body? Be generous, it’s good for the soul. And remember the more you tip the more they work for you instead of the company.
Every Starbucks I’ve ever been in (the standalone stores, not the little kiosks inside other stores) has been just as much a factory assembly-line operation as a McD or BK.
There’s a Starbucks my wife goes to a lot; sometimes she will call ahead and her drink is ready when we get there. For that, I’ll tip.
Otherwise, “No”.