I know it’s not like this in most, if not all, of Europe.

Now yes I realize it’s not “technically” mandatory, but you’ll certainly get a dirty look or poorer service if you’re a regular. How about the employers pay a decent wage so the employees don’t require the tips? What if tipping were an actual thing to say thanks for your great service? Instead of thanks for doing the job you are payed to do. Should be a surprising and exciting thing to get a tip from someone. TL;DR pay people proper wages, end required tipping.