Well actually it's only the high end restaurants where tipping is done. You go to places like Sizzler or California Cafe, or Johnny Rockets you don't tip.
I haven't eaten at a Sizzler in 30 years or a Johnny Rockets in probably 10, and as I recall, California Cafe is a "fast casual" where you order at the counter, pay, and then go sit and wait for your number to be called. The basic rule is that any place that has a waiter who comes to where I'm sitting, who takes my order, and who brings a check at the end is someone who gets a tip. It has nothing to do with "high end," since I also tip at the little breakfast spot around the corner from my house.