Tipping is almost more of an interesting issue to talk about externally than it is internally. Restaurant professionals are generally okay with the system as it is.
It's deeply embedded in American culture to tip when you go to restaurants. This practice has been around for 160 years, stemming from a time when waiters received no salary.
When I eliminated tipping for six years, I realized very few other restaurateurs wanted to join us; it's a very difficult thing to do.
The original reasoning behind tipping was economic, not altruistic. Patrons were asked to pay tips instead of us paying waiters a salary.
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