The vast majority of people at work are paid a fixed amount, there are no perks for doing extra well except praise if you are lucky and there are no tips, this includes most jobs including some service jobs like customer service telephone operators who you can't tip even if you wanted to, but in the long term some people in these positions hope for promotion or at least a good reference if you wish to move on in future. Restaurant staff and any other staff in the service sector should also get a good enough wage without taking tips.
Many restaurants add an automatic tip to the bill anyway that drives up the price and they still do well, then the service staff are effectively just getting a commission, but I'd rather something similar happen without a tip being mentioned on the bill and without tips being accepted at all because it feels like you're being forced to pay it when a tip should be optional, there's no way anyone is likely to demand that the automatic tip is removed from their bill even though legally they could and they should be-able to without repercussions or them feeling like they've insulted the staff, also this system still often leaves the option for people to tip a higher amount, so people who only pay the default tip are still looked down upon compared to people who pay extra. Staff in service sectors should do a good job anyway, the same as a good job is expected without tips in other work sectors, but employers in all sectors of employment could choose to offer bonuses based on extra good work if they wanted to.
Personally I want to know how much something costs and I don't want to be expected to make tips anywhere, I also don't want staff to artificially butter up to me, pretending that they like me Etc. simply because they want a tip, it's makes me feel awkward and to me it's virtually a type of begging, then the staff feel distaste against you if you decide to exercise your legal right and not give a tip at all. I will most definitely never give a tip if someone hints for one as this is totally wrong and is definitely begging, this is all made much worse by Uber since drivers are more likely to rate customers down if they don't tip and this is effectively a type of blackmail, E.g. pay me a tip or I will rate you down and this will make other drivers prejudice against you, often cancelling and refusing to turn up, thinking you are some sort of a thug. I'm sorry, but it's just not on.
If I want to use another service then fine, but I shouldn't be forced to because I don't tip often, this is wrong, I should be treated the same as everyone else and receive a good service whether I choose to tip or not. This is not the case with Uber which is often cheaper as long as there's no surge, plus if you have a reasonable rating you also get a driver a lot quicker than other taxis and it's convenient to have the cost come straight out of your bank as I don't like carrying much cash. I have done nothing wrong by not tipping often, I shouldn't be treated like a thug and also for the reasons I mentioned in
this article where drivers are so prejudiced and judgemental that many are refusing to pick me up.