I think it's important to just keep in mind that the tipping culture in any country or region of the world has developed over time and is indeed part of the culture.
It's a bit like driving on the left in Britain; you may think it's a dumb idea, but if you go there as a tourist and decide to just not do it, it's not going to end well
In most European countries, a service charge is calculated into the prices and the server gets a percentage of their collective tickets. So tipping is uncommon.
In other cultures further south, both from here and from Europe, nothing happens unless you tip generously BEFORE anybody lifts a finger. Of course, there is another word for that. In a country not too far south of here, I once had to tip a policeman to get my drivers license back
But if you want to function wherever, righteous indignation isn't going to get you anywhere, you need to go with the flow.
Apparently, the majority of Americans are okay with the way our system has settled in. There are more than enough non-unionized restaurants that owners would have shifted to paying servers more and instituting a no-tip policy if they thought they could be competitive and profitable.
But they generally haven't, so it'll likely stay this way.