Unfortunately that’s not the reality in full service restaurants in the US
As someone who lives in the US and was actually at a full service restaurant just last night, I can’t agree, just depends on the place/region.
Also, if you are basing your existence on just the goodwill of others, that’s not a smart or healthy way to live.
Really get tired of repeating the same points over and over again, so I’ll just leave it as “everyone is the captain of their own ship”, metaphorically speaking.
It’s okay to not to tip for normal service.
Tipping is supposed to be done for extraordinary service, above the call of what the employee is normally required to do for the customer.
If the employee is not earning enough then that’s a matter for between the employer and the employee to resolve, not the customer.