There are laws in place for service workers related to minimum wage. The employers have to make up the difference if tips don’t meet the rate for hours worked. It seems to me that’s not sufficient for the times.
Hypothetically, if everyone were to stop tipping in the U.S. would things be better or worse for workers? Would employers start paying workers more?
The only way out of this whole thing is to just never tip counter service, and to never tip really well for waiters. It feels bad, but the whole system is built around exploiting your guilt as a customer. It encourages wait staff to fight for better employment.