If people only went to restaurants that didn’t rely on tips in the US there would be no restaurants whatsoever and all workers would be out of a job.
If people go to the restaurant and don’t tip at some point the waiter can say to their boss that they either get a living wage or they can go to the restaurant thst doesn’t rely on tips (since from your comment they are so common).
From my European POV don’t trick me with fake prices. If the item I’m buying is presented to me with the cost of X then that’s what you should expect and demand of me. Tipping is extra, voluntary and based on above average service.
Shit when I was there last time I got asked for a tip for asking for an item that was off the shelf. It wasn’t even cooked or prepared in any way and it wasn’t even supposed to be consumed in that café. I wasn’t going to pay 20% on an expensive bag of coffee just because some waiter fetched it literally from the shelf behind him. It’s insane
Besides basically everything else runs off tips so it works. Or do you tip your landlord with the rent??