https://en.wikipedia.org/wiki/Digicash
That said, what makes you think having a cash-oriented society guarantees tipping? There are industrialized nations that still rely on cash but where tipping is not ingrained in the culture; my experience in Japan was that if I left a tip people would assume I had made an error in my arithmetic or forgot my change.
I agree that privacy is a problem with going cashless. Let's ignore tipping and instead focus on an actual problem.
Cash provides for people in a lot of ways that digital money can't or never will. Tipping, getting paid under-the-table, drug purchases... can digicash benefit all these people? Those groups should stay with cash, the amount of OpSec required for digital alternatives is too much...
Why the obsession with replacing everything with technology when sometimes the old system works fine?
How is that more convenient? You've a pipe dream if you think one option is more convenient for everyone