I disagree.
You should not look at the customer to make up extra payment so your wage becomes bearable. This way you are pointing in the wrong direction for a fair pay.
The customer is not the one responsible for you making enough money. Your employer is.
Employers are also the only people gaining anything from tipping. The laws in the US actually allow employers to pay less than minimum wage if the worker receives tips: https://www.dol.gov/general/topic/wages/wagestips Since tipping is not predictable the employer wins by having to pay the worker less. The worker loses.
Also you as the worker are responsible to track and pay taxes on the tips you received, not your employer: https://www.irs.gov/businesses/small-businesses-self-employed/tip-recordkeeping-and-reporting
I understand it sounds scary when I say "Stop tipping" because it sounds like less money to you, but don't look at me, the customer, for this. Look at the employer. Stop tipping.
Edit: I agree with your take to stop engaging with companies that rely on tipping to change this, though. I think that was not clear from my comment.
If tipping was stopped all around this would force employers to be responsible for the pay of their employees.
This can only be achieved by holding the employers accountable. Buy from companies that pay fair wages. Don't buy from those that rely on tips. Vote with your money.