I’m not sure it would be possible to change the culture any other way, since it’s so entrenched.
The only restaurants I know of that were able to successfully transition to a less toxic business model for servers did so through a combination of paying servers a fair base wage ($20+ an hour) and banning tips.
Culture is tricky in that it’s ‘sticky’ and often takes a lot of effort to change. Having a policy like ‘tipping not required’ would still lead to the vast majority of customers feeling obligated to tip because not tipping carries with it such a strong implication of being greedy/stingy.
I should mention that this all mostly applies to the US and that there are plenty of countries with flourishing hospitality industries where tipping is virtually nonexistent (or even seen as insulting).