The history
Tipping in the US was historically for table service. Counter service (coffee, fast food, takeaway) was below the line. Bartenders sometimes, baristas no.
What changed
Square + Toast added tip prompts to every transaction starting around 2020. Suddenly every counter is a tipping question. The norm is being rewritten in real time.
A working answer
10% if you pay attention or they did something special. Skip otherwise. The point is your peace of mind, not the algorithm’s prompt. Pick a rule and apply it.