But you are defending the system. You're literally saying if you end up in a place that expects tipping then you should tip. What if you're going out with a group and that group decides to go somewhere that expects tipping? Are you supposed to remove yourself from the group so you wouldn't go into a place like that?

You can't take this black and white stance where if you end up participating in this system you also have to perpetuate that system. Making the customer feel like they're responsible for the livelihood of the staff is how this tipping culture is kept alive and that is exactly what you're doing right now. You're trying to claim we are responsible for their livelihood simply because we stepped into the restaurant and ate.