Here’s what I’d say:
Generally the prevailing concept behind it is that if something extra is being done, then that is something that should be tipped. Just doing the agreed upon service isn’t something that automatically warrants a tip.
Restaurants: Really only sit-down type restaurants with a wait staff warrant tipping. Counter service and fast casual type places may often have a tip jar, but don’t feel obligated to tip. They’re just essentially scrounging for extra money IMO. The “extra” here is the being waited on in the dining room- the preparation of food is the part you’re ostensibly paying for. 20% is the general rule these days.
Bars: Not sure what the extra here is, but it’s always a good idea to tip your bartender. 15-20% is usual.
The thing with restaurant and bar tips is that as shady as it sounds, the minimum hourly wage for waitstaff and bartenders is lower than the usual minimum wage. They’re expected to make up the difference via tips. Of course in practice, it only takes one good tip per hour to make that up, and most wait staff make FAR more in tips than in wages. So in some sense, they’re being paid directly through tips.
Take out: Tips are only obligatory if you have it delivered. Same thing applies as counter-service places. Many take-out places will have a tip jar, but you’re not obligated to tip them. The “extra” here would be the delivery. I usually tip 10-15% for delivery.
Services: Generally it’s only the personal services like haircuts or maybe pedicures where tipping is obligatory. Getting your car’s oil changed doesn’t require a tip, nor does having the A/C tech out to work on your heater or air conditioning, or an appliance repairman out to fix your refrigerator. I’m not sure why haircuts do have tips, and say… getting your toilet snaked doesn’t in this situation. I’m not sure what the usual amount is- I tip my hair guy about 20%, but I don’t know if that’s normal or not.
The other place you’ll commonly see tipping is valet parking. The “extra” here is that they’ll drive your car off, park it, and bring it back when you’re done, as opposed to you going and parking down the street. The catch here is that lots of places block off the nearby parking for valet parking, and force an annoying choice- valet park, or park a long way off and walk. I usually tip around $5 for valet parking, and a few bucks less if they’ve basically monopolized all the parking and are essentially forcing me to valet park or walk six blocks.