So I think the best option with the whole tipping thing is to tip when you can or don't eat out.
I am disabled and I use delivery specifically when I am having a rough time. So not eating out at all isn't really an option. I currently tip 18% to 20% (more if it's raining or if it's a long drive) and don't order a ton of food if I'm not willing to pay the tip. The whole tip or no tip thing is kinda wild to me bc is like an extra $5 usually. I have spent $5 on way stupider shit than a person's ability to take care of themselves.
A third option would be knowing which restaurants tip their workers fairly and only spending money there.
Idk if this list exist already but I think a huge problem with the tipping issue is that it doesn't move up the chain. Business owners aren't hurt if you go to a place and don't tip.
I think making it very clear that the reason a place is losing business is BECAUSE customers want their servers to make more money could make a bigger impact.