I'm hoping to take the family back to America soon, but i know this time round I'll have to save up extra pennies just for the tips, which imo is bonkers. Tips are like bonuses. They're an additional fee/incentive for good performance, but not guaranteed. You shouldn't get one if your shit or even just as expected.
The sooner the mandatory tips goes away, you'll probably find more people tip because top quality service will shine through more and more.