The USA is a bad example to draw examples or studies from. For the simple reason it's the only place on earth where this "tipping culture" is widely accepted. Not even going into examples like Japan, where tips are actually rejected. The rest of the world functions on the basis of going to a restaurant or bar or company for Y and expecting to pay X, and if and only if any tipping is done is when the customer subjectively decides the Y offered is of greater value than the X costed. This is very simple, completely normal, logical, rational, and moral. Restaurants or bars are just companies selling X products and/or services for Y monetary value. It's an established objective value exchange.
Now there are problems with the "established objective value exchange", obviously, for example, how ethically or legally companies produce X, how fairly they pay their employees, or even how incorrectly they choose the Y cost, etc. But this is all irrelevant to the issue.
Tipping is an extra and optional. It's nonrequired funds, monetary gratitude, etc. However you want to describe it, it's outside the lawful established Y.
The impetus for tipping only comes from the buyer or customer; otherwise, it would be the Y cost.
Therefore, to conclude, this USA "tipping culture" can only be an emotionally charged or misleading way to add a "service fee" with another more "palatable" name.
"Tipping" is fundamentally contradictory with anything expected. Voluntary work, for example, isn't voluntary when it's expected in any way.
Referring directly to the problems of "expecting tips":
1. There's no consensus on what's "better waiter service". For example, some people don't like uncalled-for attention from waiters, and others do; some like talkative waiters, and others don't, etc.
2. Restaurant owners can leverage their employee wages with this "tipping culture". This is immediately a non-issue without this "expected tipping".
3. This "tipping culture" opens the door to taxation. Then what's the difference from a wage? Getting taxed even more times?