Yes you need to tip if you are at a sit-down restaurant with a server taking your order at the table.
Whether or not you or anyone else agrees with that, it is the cultural norm and you would absolutely be rude not to.
If you are uncomfortable with this, choose to eat somewhere where you won't be expected to tip. Don't knowingly go to a restaurant where tipping is expected and then refuse to do so out of principle.
Do you finish your shift, clock out, and get dressed?
Why not just stay nude on your free time?
Or is this all just a subtle hint about the type of work you do? ๐