I don't and would not tip on a pickup order.
And I tip well when it's earned.
		
		
	 
I tip any waitstaff at a regular restaurant, because I know the tips are making up for the lower-than-minimum-wage they earn.
[edit: to clarify, I also do not often tip on to-go orders, though I will on a whim]
I'd very much appreciate a move from nearly fraud to sane and practical waitstaff wages (and the resulting fixed price increases on food).
People who worry about "bad service" in a world without tips, um... look abroad. Bad service is not a norm in the service industry, because, get this, employers always paid attention anyway. If not immediately then down the road, as shitty performance tends to get you canned. If you are pissing off customers left and right, you're gonna get canned or relocated. One off days aren't a thing, and wages shouldn't be punished for it, we all have shitty days. Unless you are a regular somewhere and regularly deal with a routinely bad waitstaff (that's managements fault, btw), then most occurrences of bad waiting that people don't tip for are -- I'd presume -- more often something akin to a bad day, distracted, etc.
Let's face it, we've all been there, and I'll go on to assume that most of us would rather not see a variable daily wage based upon some performance metric as opposed to based strictly upon time in some form, be it flat hourly wage or salary for whatever time is in the contract. The real issue is often management or lack thereof.