If by "enjoyment" you mean having someone wait on you at a restaurant, I'm not shaming people for having enjoyment, just for taking it without paying. Same way I'd shame them for any other form of enjoyment at the expense of others.

There are restaurants that explicitly inform their customers that they pay their staff a higher wage and tipping is not expected. If you don't want to tip and still want your enjoyment, eat at those establishments shame-free.

If you disagree with tipping culture and want to incentivize business owners to pay their workers a thriving wage for their hard work, then stop spending money on establishments that utilize tipping, encourage your friends to do the same, and write the business owners to tell them why. Another shame-free option.

If you go to an establishment where tipping is expected (and menu prices are therefore lower) but choose not to tip, then:

1. The business owner benefits by making the same money they would have if you had tipped, no incentive to change
2. You benefit from a lower price
3. The server works just as hard, but now does not get honesty compensation.

This does not incentive the owner to raise wages. You are exploiting the expectation of a tip that set the low menu prices. If you honestly wanted the server to make a thriving wage, your options are to pay that wage yourself or go to an establishment that does (and consequentially has higher prices to cover this higher wage).

Yes, you should be shamed. There's no excuse for enjoyment via exploitating others.

Candy being enjoyable doesn't entitle you to steal it if you can't afford it. Not agreeing with "candy pricing" culture doesn't excuse it.

I don't care if your doctor or your barber or your banker gives you candy for free, that doesn't entitle you to take it for free from the store. Taking something without paying is theft. Labor is no different. If you can't afford it, go to a restaurant that doesn't use it.