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Tipping is a form of price discrimination, which generally makes things more efficient and has been a staple of capitalism since forever. A business actively wants to extract more money from customers who can afford more, and still sell to customers who are more price sensitive. Coupons are the more normal way to do this, but tipping serves this exact purpose. This is in theory good for customers (except in monopolies, where the business extracts all the value), but in practice, sure, I agree tipping is obnoxious as a customer and possibly even worse for those whose pay involves tips.

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