You didn't tip for X in 2003 or 2013 -- should you tip for X in 2023?

I've also talked about before how I never used to tip for take out.

I always thought in restaurants the tip wasn't for bringing me the food (that's the bare minimum the job requires), it was for everything else, bringing the food promptly, keeping the drinks filled, clearing the table etc.

For take out I drove out there to pick the order up all you did was hand the bag to me so no tip.

It was my girlfriend that got me take out tipping, been doing it so long it's now second nature but I still wonder what exactly I'm tipping for