You’re using the technical definition to claim tips as not corruption. And of course we all know that, otherwise it would have been illegal.
The point is, fundamentally the current way tips are collected in the US is like corruption. And like corruption, it should be made illegal.
For those who think people can’t survive without tips, first it is a problem that they are mistreated by their employer, second make it legally binding to mandatory add 20% or whatever to the meal and pass that to the directly (again legally binding).
If you think tips encourage good quality of service, other places without a culture of giving tips have our ways of providing good quality of service. You don’t need tip for that.
I once heard tips people gave, that when checking into hotel rooms, you should hold a 20 dollar notes as hint of tip and then ask them for upgrade. If they do, then you give them the tip. This is bribery, one of the many examples how tip culture can be used in a way indistinguishable to corruption.