1. Yes, tipping in the US is insane, and it's getting more insane with iPad tipping.
2. No, it's not ever going to go away in the US. There are many, many stories of restaurants that tried to go no-tip (and crowed about it) but eventually had to go back to tipping because (a) the best servers prefer tipping and (b) people will judge you more expensive, even if you're not compared to their price+tip.
3. If you are a highly paid professional living in a major US city, you should tip and tip generously (assuming normal or better service). At the end of the day the difference to you is a miniscule, teeny amount of your salary, but for the server, barista or cashier receiving the tip it's a huge difference.