I’d prefer clear pricing (even if that raises prices) to have the comforting knowledge that some asshole can’t underpay a server and leave them short of paying a bill just 'cause. Servers deserve predictable income and customers should feel obligated to be polite themselves to receive politeness in turn.
Also, tipping culture is sometimes used as an excuse for customers to engage in various levels of harassment with wait staff. This is particularly common in “breastaurants” like Hooters, Twin Peaks, etc.