I travel pretty frequently for work (usually once a week) and I tip the following at hotels:
Front desk: never. UNLESS I'm trying to get an upgrade. $20 can somethimes do this.
Valet: $3-5, but only at pick up. They pool tips, so you don't need to double them up.
Concierge (luggage guy): $3-5 when they take it to your room. If I store it they usually get the same amount.
I also tip housekeeping $5-10 a day, especially if I'm staying longer than one night. I get all kinds little extras for doing that, and it's nice to come back to.
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