Now, I'm not suggesting they provide any less of a service, but I've eaten at taco carts that expect the same level of tipping (15-20%). These are places that the server definitely _could_ also eat at. If they are making the same amount of money (and possibly more), why is it still the customers responsibility to tip? At that point it isn't for the employee to make up for low wages. It is also usually paid prior to receiving your food, so it isn't for improved service. In this case the business could increase the base price and reject tips. If they directed that money to employees it would make budgeting easier for them and make no difference to the customers.
Now, I'm not suggesting they provide any less of a service, but I've eaten at taco carts that expect the same level of tipping (15-20%). These are places that the server definitely _could_ also eat at. If they are making the same amount of money (and possibly more), why is it still the customers responsibility to tip? At that point it isn't for the employee to make up for low wages. It is also usually paid prior to receiving your food, so it isn't for improved service. In this case the business could increase the base price and reject tips. If they directed that money to employees it would make budgeting easier for them and make no difference to the customers.