Waiting staff in US are not at all well paid and rely on tips. That’s their system. They also often have to pass on a fixed percentage of their pre tip bill income for back room staff. So leaving no tip means they serve you at a loss.
Visiting the US I just went with the flow and tipped around 15%. What we do in U.K. is surely irrelevant to how we should behave abroad when it comes to etiquette and people trying to earn an honest crust under local norms.
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