I agree that the tipping business model is unethical and helps to artificially prop up restaurants that would fail if they didn't have the crutch of underpaid/overworked staff. I agree that it should be done away with and everyone should get a liveable wage, regardless of their work.
That said, we (America) currently live in a country with tipping culture, and until that changes I absolutely agree with TC. It's not the employee's fault that they're underpaid and overworked, and the employee should not be the target of the disgruntled consumer's righteous indignation. Either tip your god damn server or stay home.
When someone says "well the restaurant should pay their workers instead of relying on me to pay them" while eating at the restaurant, that isn't telling the restaurant anything - it's only being a dick to the employees and feeding the machine that lets you act like a classist pos because your server (the one who actually has a right to their righteous indignation) didn't fill your water enough times.
And just to make it clear my argument isn't secretly about me or whatever: I'm fortunate enough to have never had to work a food service job.