If it helps, think of it as gas money rather than a 'tip'.
What I find frustrating about restaurant tipping is the inflation of percentages. It used to be 10-15% here in Canada. Obviously nobody was going to object if you went higher for whatever reason and if you were feeling particularly aggrieved about something you even could argue 10% of the pre-tax total was appropriate. When I eat out now I see the automatic tipping percentages start at 18%, and that is 18% of food prices that have already been hit heavily by inflation (C$20 for burger and fries in a pub in my neck of the woods). I appreciate that serving staff have to divvy out to kitchen staff etc. but that was always so. On the flip side, during COVID, when restaurants were closed but staying afloat by offering takeout, I was happy to give a tip. I am now seeing some places remove the tip option for customers getting takeout. Those are the places that keep my custom (and get some change in the jar).