People's critique of tips being a good idea for waiters is based on a misunderstanding.

The common critique is that "everyone tips the same anyway" so the tip doesn't drive differential service.

But the real benefit is that tipping (of any amount) now gives a structural incentive to the waiter to provide speedy service.

The more checks they get, the more bonus they get.

But the tip itself makes sure they don't rush the customer to turn a table; if the table feels rushed, they're much more likely to leave a smaller tip.

As a result, the service is incentivized to be more attentive than it would otherwise be.