You don’t hurt the people who’ve made tipping a necessity by not tipping. You only hurt the worker. The worker is blamed for not being good enough for the basic amount of money to survive.
If you want to kill tipping, stop funding the scum who make it needed. Stop eating out. If you must eat out, you accept that doing so has a greater cost than making your own food. Don’t hurt workers while funding, and rewarding, those who exploit them.
Edit: To clarify my opinion, if you eat out you should tip. If you object morally to the idea of tipping then you shouldn’t fund those who make it a necessity. No moral consumption and all that jazz still applies. You can eat out, but if you’re paying the exploiter, don’t take out your anger on the fellow exploited. Leave a tip