It dismays me how many wealthy people I know that flat our refuse to tip. I end such friendships, as those people are monsters, waiting for an excuse to toss others away.
You can tell whether people complain about tipping because of fairness or just because they want a discount by whether they also complain about mandatory, fixed percentage tipping, which is really just a service fee under another name.
Also, a customer does not owe workers anything in the USA. Employers owe workers.
I'd pay a premium just to avoid the distasteful master-servant relationship. It's insulting to assume that the customer would enjoy lording over others.
> just because they want a discount
It never crossed my mind that people do this. That's lousy.
if that's the goal it needs to be a systemic solution, which generally means or legislation, company policy, or worker organizing. otherwise you're just going around hurting people. if you don't want to tip service workers, stay home, and don't order delivery.
remember, that scene in Reservoir Dogs was intended to demonstrate that Mr Pink is a shortsighted asshole.