I no longer work in the food service industry, but I've had plenty of jobs as a busboy, barista, and server (work in IT now.)
I absolutely HATE when people think that tips are required. Tipping is OPTIONAL. I lived on tips for 2~3 years in college, so I know how inconsistent checks can be and how appreciated those tips really are by others in the industry. But, those tips should only be the result of that individual's hustle and no one should feel shamed into forking over an additional 10-15% because "thats just what you do." The bare minimum is what you should make when you provide bare minimum service, PERIOD.
Maybe its because I'm biased and have experience, but its really not hard to be a decent waiter. You seat guests at a clean table, grab menus/cutlery/water, and then just make your rounds. I was incredibly lazy, took cigarette breaks all the time, but still managed to get decent tips because I was nice, paid attention, and made sure to check in regularly with every table. Its not difficult.
The people who feel entitled to tips, by and large, are the laziest workers. The cats that show up at 2:05 when their shift started at 2, or would check off the sanitizing buckets even though the water was ice cold. Worked at a place on campus, a random resturant, and my family's cafe... It was always the same types with complaints like "Ugh, I just waited on those guys and all they tipped was $2 on their huge bill!" Well, maybe if you weren't busy talking **** about them within ear shot, or checked on them more than 1 time every 30 minutes, they'd be inclined to give more.
Miss me with that "they need tips cause they only make $3/hr!" BS. That's the owners/managements issue, not mine. They accepted that job knowing the pay scale. They have the ability to seek other work. Even if you live in the middle of nowhere, theres gotta be a gas station, McDonalds, whatever else that you can elect to do. But most won't because they know an untaxed $3/hr with a few dollars of tips every hour job pays better than a $7/hr job thats taxed (and i know people are supposed to pay taxes on tips, but no one does.)
If you don't like it, boss up and gain skills that will make you hireable in another field. I know its possible because I did it. The socioeconomic conditions in the US are not that bad yet. Welfare and unemployment are there in case you stumble, and were created for that very reason.