The only way to institute change in an industry is by changing the supply/demand dynamics. If servers are underpaid, there’ll be less people willing to be servers (supply goes down) which will drive prices up. Every time you tip, you are intentionally interfering with the fair market for service labour.

The solution to the problem is not to grin and bear the status quo, but to convince other people to not tip. At least, according to typical economic theory.