Everyone’s agreeing with you that servers are underpaid in terms of hourly wage and that they shouldn’t rely on tips. However, your execution causes more harm to the servers as an immediate action.

One thing is that according to US law, if an employee's tips combined with the employer's direct wages of at least $2.13 an hour do not equal the Federal minimum hourly wage, the employer must make up the difference. So instead of making more than minimum wage based on getting a lot of tips, they’re just making the minimum.

I understand the greater picture and that you’re hoping for change to occur for the employer, but the more realistic outcome is that they just get minimum wage, which in some states is less than 8 dollars. So this is a federal issue, not an employer issue.

EDIT: The best thing you can do is support businesses that actually pay a decent hourly wage plus allow tips for the employees and don’t give your business to everyone else. By eating at those restaurants but not tipping, you’re still supporting them and actively not supporting the servers. Reward the businesses that align with your views on wages.