First of all, I tip. why? to save face.
Companies know this and they push the financial burden on the customers to make up for their shitty wages.
But then there are some restaurants who actually deny tips. Their food is more expensive but I can assume their wages are higher.
You eat. you pay. you walk out. no 'trying to save face'. no 'here is $XX, don't spit in my food next time please'.
Here is why you shouldn't tip:
If you tip, you are setting a standard and pressuring others to tip while allowing companies to practice unfair wages.
Donations are done anonymously. Tips should too.
So what can we do? nothing.
it's like buying a diamond ring for your fiancee. You know it's a made up money grab tradition that destroys certain African countries and their children which you have to pay 3x your income for (set by diamond companies to increase their price with the inflation). But you can't do nothing about it. why? because you have to save face. your fiancee has to save face.
If you tip or buy diamond rings. Good for you. I also do a lot of stupid shit just to save my face. But I don't force others to do them and I certainly don't patronize others who don't.
If you tip genuinely because you liked the service, why stop there? tip that guy who opened the door for you. Or the person who held the elevator for you.
If you tip because you feel bad for the driver's wage. don't worry. the system will sort itself. like every f'ing business out there in a capitalistic country.