Well, the idea is the price of eating out would be higher if it wasn't a tipping culture because they'd have to take in an equal amount of extra money to afford to pay waiters a real wage. So it's not like you're getting cheated by having to pay extra. The restaurant business here has just developed in such a way here that you can decide how much additional the server gets. So, if you choose not to tip, or tip low (without the service also being poor quality), you're just being cheap, and you shouldn't be surprised if people consider you a cheap person. I hate to draw on a cliche story, but people didn't hate Scrooge for no reason.
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