Our minimum wage is higher here though.
I would much rather employers pay their employees a livable wage and roll the cost of that into the price of the service.
But I do kind of dispute that it's just a "self esteem" thing. Often the "no tip" option is smaller and harder to spot, and I think that some people genuinely do not realize that "not tipping" is an option, and it's not like these kiosk manufacturers don't know this.
I will go to restaurants when I'm traveling for obvious reasons, but for the six months or so I haven't really eaten out more than five or six times, all of which were for special occasions. For comparison, I used to go to some form of restaurant in the past four times a week. I gradually started to avoid places that have the tipping kiosk, but then just transitioned away to just avoiding restaurants entirely
Now, there's actually a bunch of reasons that I don't eat out anymore, but one thing I'm pretty sure is this: you know what's even worse for a business than people not tipping for a service? Them not showing up to even buy the service.