1) ban the subminimum wage system which distinguishes between tipped and untipped employees
2) raise the national minimum wage to $20/hour
3) require restaurants to pay payroll taxes and worker's compensation premiums on tips
4) actually enforce laws against wage theft ... and tax evasion
5) to those who smugly say that tipping is "To Ensure Promptness" - you're a privileged asshole who clearly doesn't care about the racist, sexist, and demeaning practice they support.
This NYT article mentions the sexism and demeaning environment. For racism, see https://en.wikipedia.org/wiki/Gratuity#Discrimination . And it goes the other way - waitstaff tend to treat black customers less well because black people tend to tip less than white.
6) to those who don't tip as a protest because the system is rigged - you're a cheap asshole. Go places where you don't need to tip.
Things I actually do:
1) complain on HN. :(