I’m torn about it as I see both sides.
The real problem is the employers. They turn the customers into the bad guy as the reason why their employees are so poor. The employers are just paying so low as to reduce their business taxes and also their 401k contributions, as well as a whole,host of other tactics they employ against their workers, like cutting hours to treat them like part time staff rather than full time staff that get additional benefits and insurance.
But they redirect all the worker woes about momey onto non-tipping customers. Not buying it employers.
Money (not momey)
They can always do what restaurants in Seattle do, which is turn the servers into commissioned workers where they present the diner with an 18% commission fee.
Would that make you feel like a good guy? The employees wouldn't be poor anymore for the labor of serving you.