Are you okay with retail store workers asking you for a tip for pointing you to the right aisle? What about your doctor asking for a tip after a checkup? What about a relative that asks you for money every time they see you, and decides to "suggest" amounts? What about simple panhandling?

In all of those cases, you clearly have the ability to simply say no. At the same time, any socially aware person is likely to resent being pressured for money.

Your argument would make sense if tipping was something done for exceptional service. It makes less sense when it is essentially universal and implicitly risks worse service in the future at best. Even at restaurants, tipping disproportionately rewards the people who have arguably the least difficult job and does so in an empirically discriminatory way that has almost no relationship to service quality whatsoever (https://ecommons.cornell.edu/handle/1813/71781).