Pass laws that make sure customer service workers are paid a fair wage. Then you can stop tipping.
Ironically, tipping counter service at creates an additional caste rather than decreasing inequality.
To steal a concept from Reservoir Dogs; You can't tip at McDonalds, Chick-Fil-A, Burger King Wendy's (by company policy), but yet we've proceeded to create competitors where it is societally expected to tip.
What's likely the case is the niche food counter doesn't hire the minority single mother/father but passes them up for the urban hipster with personality; based on "culture" -- and at best case, a reason an employee would choose the niche counter over McDonalds is because they can already afford the risk.
Sadly, it's also more likely the niche counter is small, skirting employment law w/ illegal servers wages for their cashiers compared to McDonalds who is going to have a full range of benefits.
The options are usually absurd, too. For example, three large buttons labeled "20%," "25%" and "30%." Then a medium sized-button labeled "No Tip" and a barely readable one that says "custom amount."