In Europe tipping is optional and the expectations are lower because the base wage is the full minimum, or higher.

In North America tipping has become a necessity because there is a lower minimum wage for waitstaff, which is a stupid arrangement that allows management/ownership to keep wages low and also now claim a portion of tips, for some reason.

Anyone who thinks that is a good system and that the problem is “cheapskates”, not the deeply flawed system for paying waitstaff, is not thinking things through