Based on your qualifiers, I had to vote “Sometimes/Depends”.
I am not Mr. Gotta-Tip-Everyone-Everywhere, but tipping just “feels right” at certain kinds of places and “not right” at others. There’s no cold logic to it, really, and it’s not much associated with whether or not I get sit-down table service.
Full table service restaurants: Tip invariably.
Table service restaurants that also do a brisk take-out business: Generally, the finer the establishment, the less take-out they do. Around here, this class of restaurant (table-service place also with lots of take-out orders) is very popular. In my own restaurant days, I was taught that 10% was an appropriate tip for take-out service. These days, if it’s a place I’m taking out from for the first time, or somewhere I’m just passing through and unlikely to return, I might go with that 10% rule still. If it’s one of our go-to places where I want the staff to remember me fondly when I come back, I tip 15%-20% on takeout.
Small-chain and mom-&-pop counter service: Similar rule as the above, but more in the range of 10%-15%. If it’s a bare-bones place with few or no tables (IOW, their counter service is their bread and butter … and they don’t wait tables but you can take your bag and eat at their dusty plastic booth if you want), I mentally deduct a bit for that. Not fair or logical, maybe, but there you go.
Established chain fast food: No tip. The few times I’ve seen a tip jar put out at a fast food place, it feels like an affront and I avoid that place for a while. I’ve never seen a tip line on a debit-card receipt from McDonalds, Wendy’s, Subway, Taco Bell, Popeye’s, KFC, etc. I am curious if others ever do.
Coffee, donuts, ice cream, smoothies, etc.: These places kind of have their own thing going on with tips. Based on absolutely no logic (except maybe a barista is kind of an expert coffee-drink maker?), I’ll tip around 15% at these places. Around here, this class of business almost always does have a tip line on their debit-card receipts.