I'd say yes. The situation is complex.
It's clear that tipping culture is out of control. There are many places asking for 20% tips even when ordering from a counter where the interaction takes about 10 seconds.
Unfortunately there has also been a systematic underpayment of wages which has occurred largely on the back of tips. In some states it is even legal to pay less than minimum wage and supplement that with tips. For that reason, it's not really an option to simply not tip without being the bad guy.
Certainly the system needs to change, but as of this moment in the US, just assume everything actually costs 20% more and tip.