If you’re a prick for not tipping and it’s a discount rather than a bonus, then it’s absolutely an issue of the employer exploiting labor.
State sales tax would ideally be factored into the listed price, but regardless, it’s mandatory and baked into the bill. I don’t need to play games deciding if, when and how much to add on, which tipping requests have become.
Dine in? Sure, 20%. Get one beer from the bar? A burrito for take out?
You’re calling people selfish when there was no mention of not tipping, just that it’s a problematic system.