Who Do You Tip?

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Some people say that tipping is optional, in most cases it is but waitresses usually work for a lot less than minimum wage and rely on tips. There have only been a few times that I did not tip in a restaurant setting and i those cases I ended up walking out mid-meal because of the (lack of) service. SO who do you tip? There have been a few times when the pharmacy has delivered meds to my house and I was always wishy washy about whether or not to tip the driver. Most food delivery services like Doordash force you to pick a tip percentage when you are ordering and while that eliminates having to sign anything you are strong armed into tipping without knowing what you are getting and when it arrives;