There are plenty of service jobs that don’t involve tipping which manage to have a hierarchy of staff without it getting overly complicated. It would be a change in how we approach situations where we’re extremely used to tipping, but I don’t think there’s any actual barrier to doing so. Pay staff the equivalent of what they make with tipping today, raise the price of the service/good, and just completely eliminate tipping. Then we can stop being the weird country that expects to tip in every situation.