It’s really a cultural problem, and there’s no easy solution. I certainly don’t know how to fix it. I think it would require everyone not tipping or every server everywhere demanding a higher wage.
Honestly, I hate tipping as much as the next guy. If I decide to tip someone I should be able to feel good about it, like I’m giving them a bonus, rather than feeling guilt-tripped or obligated to do it.
Unfortunately, the system is just set up in a way that sucks for both customers and employees, and the only way you can eat in a nice restaurant and not be an asshole is by tipping your server.