How do we end forced gratuity

Or tipping in general. This practice has gotten filthy and out of hand.

Went to a restaurant today that had a lunch special. Great food good service. Normally I'd tip because it's the social thing to do.

Then comes the end of the meal. No lunch special on Sunday, no one told us. We were there at 12pm noon. And they added forced gratuity of 18% despite our group all paying individually.

On top of that, we didn't have 1 server. We had 2 and a robot, who gets the tip? One guy did 50% of the work. The robot did most of the rest, the other server brought 2 plates.

We went out expecting to pay $48 for me and my wife, the others were all separate and paying for themselves. Instead we get slapped with a $74 charge. It's blatant theft. What's to stop them from charging 40% for the tip, or 200%

So anyway. How do we get this disgusting practice banned legally. I don't make enough money to be getting taken advantage of like this.

Putting this in under call to action. Might be the wrong flare