You do, but if no one would tip owners would compensate the employees because they must make at least minimum wage.
The fact of the matter is that owners get to pay his employees less by having customers pay for it instead. You can call it tips, but what is really is - it’s the money the employer should have gave them.
And then we can stop the entire ritual of shame and guilt where you tip just to not be judged by everyone around you for being “cheap”, even though you paid for the costs of the food you ordered.