Also, as a brown male, reading the article made it pretty clear why I receive markedly poorer service when I'm with my family (also brown), vs. when I'm eating out with my white friends. Being reminded of racism in this way is, well... pretty stressful.
This essay was also posted on Reddit, and I saw similar responses from African American folks there: even though a lot of them tip pretty generously, they can sense that servers don't look forward to being at their table providing service, as if they're anticipating a bad tip.