Arguably it's the result of a market failure. I don't know many people who enjoy tipping, in which case, I'd expect a free market would eventually produce some restaurants where you don't have to tip, even if it ends up being short-lived.
Instead, rather than see some businesses experiment with eliminating tips, I see a lot of businesses that haven't historically had tips start to request them. Worse, none of them as far as I can tell have lowered prices: it's just a new cost on top, much like bullshit fees tacked on by other industries, only with a new shame component built-in if you dare express frustration at having to pay it.
It's greedy exploitation stemming from the knowledge that the "free market" rarely exerts corrective pressures as well as advertised. The invisible hand is largely invisible because it isn't there.