> They already get a low but liveable salary without having to pay tuition. I don't think many PhDs do TA/RA duties
Varies a lot by country. In the U.S., most PhD students do TA/RA duties, because that's the main funding mechanism. It's rare for universities to give direct funding for an entire PhD, though some do fund students' first year directly. A smallish number of students also get multi-year fellowships, either from the university or from an external source like the NSF Graduate Research Fellowship Program. The common case, though, is that each semester they're hired as either a TA or RA. In the best case, the student's advisor has a grant precisely aligned with their thesis topic, and the student is hired as an RA on that grant, in which case they're being paid more or less just to do their PhD. If they're less lucky, they have to work on a grant-funded project that's more tangential to their thesis, and then essentially have a side job.
On the professor's side this system is also a pretty big source of stress, because every semester there's a question of where your students are going to be funded from the next semester. Have to bring in enough grants to hire most as RAs (ideally on projects that lead to progress on their theses), rotate some into TA positions if there aren't enough grants to pay everyone as an RA this semester, etc.
In a different form RAships are also becoming common here in Denmark, though they weren't traditionally. PhD students are all hired into a 3-year salaried contract, but increasingly those contracts are funded by European Union projects, and a student hired into a PhD position funded from that source will typically have project-related responsibilities in addition to their thesis.