My main grocery store does pick up, which I use, and flat out says no to tips, instead just adding a 2 dollar charge for doing pick up. Thats the main reason I shop at that one.

If a coffee shop on my way home made it obvious they don't expect tips or even don't accept them, I'd gladly deal with the higher prices. Having someone else make the decision on what total price to me is not too expensive, but also not make me wonder if I'm being stingy, would entice me as a customer.