Sorry but you are wrong. First, in the USA the IRS requires large restaurants to assume certain amount of gross sales for the tables served by a waiter as tips. The waiter pays self employment tax on that amount (just shy of 16%). Secondly, in a full service restaurant the waiter must "tip out" the bartender who makes the drinks whether or not he receives a tip. Finally, the waiter must tip out the host/hostess and busboys/busgirls in restaurants that have them. At some restaurants, the waiters even need to tip out the lower level kitchens staff.

I have two cousins who have waited tables on and off for their entire working lives. They absolutely HATE English, Scottish, and Welsh people sit down at a table they are waiting because they are going to get stiffed. They are half English so there is no prejudice here, just a sour taste because well the Scottish in particular do live up to their stereotype of being super cheap.

So be proud of the fact that you are stealing from the waiters who serve you for the $2 an change they are paid and freeload off the folks who do tip. Congratulations, you have much to be proud of!