it's not really an option to simply not tip without being the bad guy
My man you have got to shake this from your psyche, that's exactly how the employers that aren't paying their employees want you to feel. You're offloading their greed and systematic exploitation of working class people onto yourself under the misplaced guise of personal guilt. There may not a way to immediately fix the problem, but I can guarantee it will never get fixed if we dont change anything.