I'm not sure a waiter at a good steakhouse is making a good living. It's been a while since I worked food service, so I might be making some poor assumptions, but:
1. Most waiters don't get health benefits
2. Most waiters don't get retirement plans
3. Most waiters are at the whim of the restaurant managers
4. There's only so many tables you can turn in a shift, and tips average under 20%.
5. Most waiters don't get any PTO
Say you have a four-top that has meal service of $120 (booze tips usually go to cocktail waitresses, wine goes to waiter). An average section for a "good" steakhouse will have no more than 5 tables per waiter; otherwise service sucks.
So each table earns the waiter $24 in tips. With 5 tables, that's $120 per turn. High end steakhouses don't turn fast; again, the appeal is having a long, hearty meal. So maybe 2.5 turns on a good night. That would be $300 in tips. But then you have to tip out. Busboy gets $25 (helps you turn faster, helps with some service), dishwasher gets $10 (should get $100), hostess gets $20 (so your section gets sat promptly), and at least $50 for the line cooks who are the real stars. Now you're done to $195. That needs to be reported as income, so it gets held back by mgmt for tax.
You get 3 good shifts a week, and 2 crap shifts. After a week you've made $195x3 plus $125x2 for a grand total (pretax) of $835/week. So your gross is $44K. I'm ignoring the base hourly wage because it's usually nothing.
$44k isn't bad money. It's above the nationwide median, but considering all the downsides, it's not "a good living." If you get sick, tough shit you lose out. If the chef jacks up the menu, you lose out. And it's a young person's gig. People want their waiters to be young and attractive, not balding and showing grey hairs.