Tipping is a price discrimination scheme that directly benefits the workers. That's a lot of value that can be captured, and any other system that a restaurant could use to extract that value would end up benefiting the owners far more.
In that context, I like tipping. I tip well, which gets me better service at places I go often.
I can see why the doordash tipping fiasco was so dire.
Put another way: we don't have any reason to believe that the author is abstractly "pro" tipping, only that he (shrewdly, like most people) recognizes tipping as a local optima that he has no real control over as a service worker.
Tipping is pernicious precisely because it doesn't have a real disincentive in a culture that's already normalized it. The only real solution is unilateral legislation, without waiting for the culture to change.
The day unilateral legislation gets enacted will be the day restaurants replace most of the wait staff with ordering kiosks and automated drink dispensers.
Waiting on government to fix your problems is a fool's errand.