I look at it as Actual price = menu price + lowest suggested tip + $5 tip awkwardness penalty. So a place near me has a $12 lunch-size sub sandwich that's really good. But they ask for a 15% tip. So rather than just never eat at my favorite sandwich spot, I regard it as a $18.80 lunch and only buy it on rare occasions or when my company is paying.

Going anyway and just not tipping is also a completely acceptable and legally protected option. Sort of like saying 'no thank you' to the grocery store check out person asking for charity donations or if you would like to sign up for the store credit card.

Again, it's optional. So people can also say 'yes' if they want and that's cool too I guess. Although tipping is inherently harmful to the server's baseline wage which is a bit problematic, if people want to tip they can and no one is stopping them. And I won't give them shit about it unless they specifically inquire about it. Since the whole thing is 'optional' after all I let them make their own decisions and if tipping gives them a nice release of serotonin or dopamine or something that makes them feel better, who am I to take that from them.

This is a valid choice. What isn't valid is still going out to restaurants, having a gay ol time, and then refusing to tip your server on principle while the owner did nothing and made a killing.