I think the point is these new selfs-serve options are higher-end (at least in terms of food and drink options) than previous examples.

But, I don't see this becoming normal. Certainly, I dine out when I don't want to prep my own meal. Having the drinks refilled for me is part of that experience. And while I wouldn't classify myself as a foodie, I am willing to pay for quality service.

I guess what's missing is that many of these self-serve restaurants with $22 pan roasted salmon or whatever still have 20% tip preselected on the payment screen.

That was my first thought too, and that applies to nearly every fast dining or fast food restaurant, not just in San Francisco or the USA, but also elsewhere in the world.

Many fast dining restaurants exist where you order your own food at a counter, they call your order name/number, and you bus your own table. It's fast and obviously must be efficient for the restaurant otherwise they wouldn't do it. I don't see a problem with that either.