The Libertarians had a movement a little while ago where they would "tip" $0 to their waitress/waiter and then "gift" them the amount they'd want to tip (which

The Libertarians had a movement a little while ago where they would "tip" $0 to their waitress/waiter and then "gift" them the amount they'd want to tip (which happens to be tax free)by writing their intentions as such on a receipt. No idea if this actually works legally, or logistically, but its an option