After moving back to Toronto (and now living in SF), my biggest beef at cafes and restaurants is with the Stripe/Square terminals that force the customer to decide whether to tip or not, requiring the user to interact with the screen. Just let me tap my phone/card and be done with it.
Raise prices 20% or do whatever you have to do so workers can be paid fairly. Don't make the purchasing UX worse by introducing decision fatigue or guilt.