Funny that you think 20% of a meal at a decent restaurant is "a few more pennies". 20% on $200 gives the waiter $40 for that hour, a lot more than the pathetic $15/hour the usual suspects are bleating about. He's not complaining about tips and would find a different job entirely if you eliminated tips for MW. Heck, there's a lot of people who would like to work for $40/hour, well trained people.
Here's a fun little fact. Those people who handle your medicine 8 hours a day are paid maybe $12-15/hour.