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"Outside the US" is a huge and varied land, which has many diverse customs.
When I travel abroad, the great majority of my eating is in street or market stalls, where the owner-operator is the server, and I simply pay whatever they ask. If I like the service, I might just say "Never mind" as they fumble for change. A few times, when I intended to leave something on the table, a child would be sent running after me, to return the change that I had forgotten to pick up. One often doesn't see the wide sweep of human honesty and integrity until among the truly poor. In places that are sufficiently formal to have a paid wait staff, the bill for the rare visiting foreigners is probably already padded.
In the US, wait staff are paid properly as well. Minimum wage varies state to state. Her in New Jersey, it is $7.25/hr. In low end restaurants, you know that they are getting atleast that, and potentially more if tips allow. In higher end restaurants, they get paid higher (naturally).
It's a myth that a waitress will go home with less than minimum wage if they don't get tips. The laws don't allow that.
Minimum wages are different for restaurant staff than other jobs. Most states in the US have Minimum wages around $3 per hour because they know that the staff will make up those wages in tips. Also, tips are often shared with the bussers and other staff, lowering their overall take-home even more.
In Belgium the price is with tax (and or tip) included. Waitresses have an income, so they don't live from tips.
So, we don't tip, only round up sometimes. (for example: if you know the waiter/waitres or the service was excellent, or the whole evening.)
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