I presume you don't pay people $20 to help you shop on expensive equipment and load it up for you? And before you start talking about commission, many places don't do commission.
Funny, I don't see how I'm the employer. I didn't hire the waiter, and I certainly can't fire them. I don't recall them being anywhere in my taxes. I tip, so you can stop acting all high and mighty. I just don't have any illusions about what it is really about, and I don't have to pretend it is anything close to a good deal. When I go to a sit-down restaurant, I am there to order and eat food. How that place runs their business is their business. A waiter isn't a whole different part of the service. Why do you think a tip isn't mandatory? And I am sure you don't hold other service areas to this same standard. I used to sell electronics, with no commission, and I was never tipped. There was countless ones that I helped people pick a computer or TV that best suited their needs. Hell, one time I helped a guy save hundreds by showing him how he could get by using a much cheaper computer that we offered.
For some reason, people want to pretend that waiting jobs are these Magic snowflake jobs that just can't be compensated like every other job in the world. It is stupid. The fact is that restaurant owners are just exploiting the custom to save money on paying their staff a proper wage and depending on you feeling good about it to keep it going.
And it is such obvious math that incorporating the service costs into the food would not be the same costs as tipping separately. The truth is that if waiters were paid better and not tipped, they wouldn't make as much money as they made from tips and the food would go up a bit in costs, but not 20% higher. Waiters want tips because it financially benefits them, but we don't need to pretend that it doesn't impact customers.