I don't want to pull out an old springs1 trope, but I don't believe the need for tipping on delivery or pickup orders (unless under special circumstances). So if I'm hosting poker, the hockey game, or a gaming night and my friends chip in I pocket the additional funds and just pay the exact amount in debit/credit. Now I don't ask them to tip, but everyone rounds up anyway. Dick move, probably; but their none the wiser anyway, and I'm slightly richer!
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