I think America is too entrenched in tip culture to ever be reversed at this point. There are a handful of states/cities that already require tipped minimum wage in excess of $10. Meanwhile, the servers still expect that 20% on top. What's the difference if I go to Applebee's and order a sandwich for $12 or a steak for $24? The server brings me one plate either way yet expects double the tip on the latter. These servers don't want a standardized minimum wage because they easily pull in multiples of the minimum wage already.
And now point of sale systems basically default to asking for a tip whether you're carrying out a pizza or picking up your dry cleaning. Someone's going to feel awkward about selecting "no tip" while the person behind the register stares them down, or they just don't think about it, and now that's a tipped position. It's a broken system but too many people make too much money off of it, both employers and employees alike.