I relied upon tips for ten years, and this is as clear as day to me: Tipping makes the customer a scapegoat.
This is a clear cut case of the (intentionally) adversarial relationship created between customer and employee being used to shield the root cause - the low paying employer.
If work were compensated appropriately, tipping would not be necessary. In order to get to that, we need the workers to assess blame appropriately.
Unfortunately, unless the workers are able to do that, they will continue to incorrectly blame customers for their inability to earn a living wage.
If you want to see this adversarial relationship in action - visit the forums where DoorDash drivers and customers discuss the issue.
The only way a customer can help to force the employers hand is to stop tipping - which will negatively impact those who rely upon tips before they turn on their low-paying employers. Only then will things change without a federal law mandating a thriving wage.