Tip in firehouse subs?

I really enjoy going to firehouse subs but it seems (like with every payment system now) that they’re always asking me to tip them. Totally feels like they’re guilt tripping me into a couple extra bucks although I’m getting zero table service at all. Makes me feel like they turn that payment system around, see no tip and make my food as poorly as possible.

Do you tip at chain restaurants like firehouse subs that don’t even bring the food to you?