To me, I don't think there is any way to change the custom beyond regulation. The incentives just feel too misaligned. The crowd of customers leans towards going to the place with the lower list prices, intentional or not. The restaurants will never collectively decide on their own accord to go against that flow themselves. The servers are never going to collectively force the restaurants to make that decision. Each option requires "everyone just decide to forever on operate this new way which forces no-tipping alignment all together" and that's just never going to realistically happen. Customers aren't going to form a long lasting collective which convinces the servers to press the business nor are they going to form a long lasting collective to boycott businesses directly. Businesses aren't going to care about anything but never optionally baking in higher prices on the menu since it's giving customers away to competition. What each group actually wants as a majority is irrelevant for something as minor as this. The only way it happens is if the majority are for it being regulated as such, which can happen with representatives deciding how the collective of restaurants need to behave.

tl;dr: I tip because not tipping isn't going to result in change, not because the only way to enact change is to make sure a worker is in no way ever affected during the change.