Until compensation in the food service industry is fundamentally reworked, always tip well.
Unfortunately I think the reality is that as long as people are tipping well, there is little motivation on any party (except the customer) to rework compensation in the food service industry.
As a customer, I hate the situation. The explosion in tipping (both expected amount and breadth of jobs relying on tips) I’ve seen in my couple decades as an adult is staggering. But I still want my server to be paid decently, and therefore I tip decently. But it leaves a bad taste in my mouth every time, knowing that the establishment is relying on my guilt to pick up the slack in their compensation.