The employers are the real problem. But without an organized movement, random people deciding not to tip anymore is only going to hurt already underpaid workers and kind of does make you a jerk. Some servers literally don't get a paycheck at the end of the week if they didn't get tipped enough because they're paid so little that it's all absorbed by social security and medicare taxes. If you feel you can't afford to tip, just pick up food to go rather than being waited on.

But 100% do not tip at random business that have decided to use a tip screen. Not sure how many people know this, but the companies that make those machines actually get a cut of the tips which is partly why they push tipping so aggressively. These days I just pay with cash everywhere to avoid the issue altogether. Better for my privacy too, and local businesses often offer cash discounts.