Restaurant A's pasta is $14.95, printed clearly on the menu.
Restaurant B's pasta is $13, with a 15% service fee written in tiny letters on the menu somewhere.
Restaurant C's pasta is $2.99, with a 500% service fee written in tiny letters on the menu somewhere.
You're paying the same thing at each restaurant. If you think C is sneaky and unethical (which I hope everyone would), then why is B ok?
Then, if you wish, tip the staff whatever amount you prefer. (Though at this point, any restaurant that tries sneakily adding an additional charge to my bill probably isn't getting anything).
No, that's too unpleasant and would put a dour note on the evening. Particularly if I'm there with a date. I'm OK with simply not returning.
Granted, we all vary in our outlook :-)
But, date or not, it's not something I'm OK with doing. It's just not worth it when I can resolve the issue completely with much less bother.