Tipping actually started as a way to establish priority in a queue--being served first at a bar, being able to make a song request to the guy performing, etc. It happened before you were served, as a way to signal that you care enough about your service to pay more, so you should be prioritized. (The clatter of coins in a tip jar was the original "bell" one would ring for service.) The modern concept that's most similar is "business class" on an airline--simple, good
The concept diverged from its original purpose as queues became fixed by company policies (could you imagine anything other than FIFO-order at a McDonalds?), companies grew until the people you'd tip got separated from the people who decide who gets served and how well (the maitre d' is not the waiter), etc.
For some people, tipping isn't patronizing but part of their minimum wage.
For others, it's an indication that their service was appreciated.
For yet others (NYC I'm looking at you!) it's considered a right: "Would you like change?"
Personally, I tip 10% as a rule. But if the service I receive is appalling, I'll withold it. And if the service is excellent, I'll tip more. And I'll only ever tip by card if I can't make it in cash - I trust leaving cash on the table for my server to be a lot more likely to go specifically to them than any house "pool" system...
10% is customary here in the UK, but then we do have minimum wage; AFAIK tips are tips.
When I was last in NYC the minimum was 12.5%, and that wasn't all that long ago - I was impressed that the bill included tip calculations, but what really annoyed me was the "would you like the change" thing.
that's how we ended up with the patronising bullshit called tipping.