That's my feelings about tipping. The custom feels very classist. Depending on tips creates a social divide between service industries and their customers.
I used to work for tips when I was growing up (~2010). My rate was about $15-20/hr which you just couldn't get as young teenager any other way. BUT, I had to force myself to be bubbly and make small talk or I'd make closer to $5-10/hr. The core service quality never changed--only how much I pleased/entertained my customers. I felt like the court fool or a beggar pleading for alms, so I eventually quit for a $10/hr job that I felt much better working throughout the rest of high school.
The tipping experience did teach me the value of being personable, but I don't think the incentives need to be so severe.