At bars, 20%, or a buck or two a beer is perfectly acceptable. Cocktails should be tipped better, tied to how much effort it takes to prepare them. If you're going to be at the same bar for a few drinks, consider tipping generously on the first drink to help you get quicker service on future drinks.
At hotels, leave housekeeping $5-$10 a night, using the pen and pad of paper in the bedside drawer to leave a note indicating that the cash is for them.
10% on rideshares and taxis, $5-$10 on food delivery.
Pretty sure that's a pretty exhaustive list of places it's a significant faux pas to not tip. You'll be prompted to tip at a lot of fast-casual (order at the counter) places, but it's unlikely to be taken an insult if you don't. Anything higher than 10% is exceptional.
Bars have a similar process, but with the added "close it out or keep it open" option on each drink. To tip on the first drink as suggested, you can close out and then run a tab for the rest of the evening, but cash is easier.
Rideshares and food delivery will have tip options for card.
The only one you really need cash for is tipping hotel cleaners. Not sure why no one has figured out a solution for that one yet.