Why we need to change tipping culture
Why should I be expected to compensate for the low pay restaurants give servers ?
They work for the restaurant, it is the restaurant who should compensate, not the patron
Your solution is simple: Eat at restaurants where workers are paid at least minimum wage and where tipping is not expected.
I highly recommend two in particular: Whataburger (mainly Texas I believe) and Chick-fil-a.
At Chick-fil-a, you will get friendly and respectful service from staff who are trained to respond in specific ways to customers. I've never had someone be rude to me at Chick-fil-a.* The only downside is their very limited menu of different shapes of the same fried chicken filets, i.e. sandwich, wrap, strips or nuggets or grilled versions of the same thing.
At Whataburger there is a much wider variety of foods, with most of the entres being cooked to order. The staff is mostly friendly, though not as ritually friendly as the youngsters at Cfa.
Both of those will very often bring the food to your table, with a system of plastic markers so they know which customer is which.
If you want to be seated by a hostess, and have your order taken and food brought to your table by a server who smiles and introduces themselves and checks frequently to see if you need anything, well you're gonna need to dust off your wallet and tip. Minimum of 20%, and I mean even if the service sucked. The only exception would be if the server were rude and/or disrespectful, in which case you should cancel your order and go elsewhere, after complaining to management.
Why do I say tip 20% even in the case of poor service? Because poor service is nearly always a result of the restaurant being understaffed, or a mistake like asking for your steak well-done and the cook misunderstood how well-done you meant, or some kind of mixup. I make mistakes on my job, but my pay is not docked each time. The server still did the work.
If you choose to go to sit down restaurant and not tip the customary amount, you are stealing that person's work, or more correctly defrauding them with your implied agreement to follow that custom.
As to any ideas of a system of not tipping, that would eliminate the excellent service I always insist on when treating Mrs. Flops to dinner. I gladly pay for the upgraded service as I do for the upgraded food. Americans are not born to serve others, so it costs money to get them to do so.
Pay up, or enjoy your Red Baron Pizza while watching PBS.