Changes have to be made in the pay scale first, and then we can remove tipping...
I understand what you're saying, but that's just not how things work. As long as tipping is the norm, that pay scale will never change.
The only way it will change is if tipping stops and restaurants find themselves with no staff because they can no longer hire anyone for $2/hour.
Sometimes, communal sacrifice is the only way to get bad practices to change. I agree with you that it hurts, but the simple fact is that restaurants will not stop underpaying staff unless they are forced to.
And attempts to put this into law was fought by the servers themselves because enough of them make more money off of tips than they would from a straight salary.
So it's just not going to happen unless society forces their hand by saying "no, this is ridiculous" and stops paying extra for everything.