I don't think "externalizing their costs to the consumers" really makes sense.
In an idealized market, costs should be passed onto the consumer. From what I can tell, the book you reference is just complaining that this cost changed from money to labor.
It is also worth noting that, in many cases, this results in a net win for the consumer. Eg, whwn I buy from a full service gas station, I am paying someone to pump my gas, and paying the to sit idle waiting for customers, and paying (in time) to wait for them to finish.
In contrast, in self service, the only cost from above I have is 1 person pumping gas (which switched from being paid with money, to being paid with labor)