What OP describes seems similar to a mugging. I don’t know how else to refer to the use of intimidation to get money from someone.
It takes me over 40 minutes to earn ten dollars. I’m not going to hand it over to someone for doing 5 minutes worth of work just because they demand it.
I’m old enough to remember attendants who pumped gas, cleaned the windshield, and checked the fluids. They wouldn’t (maybe couldn’t?) accept a tip. Perhaps that’s changed. I pump my own gas, fill my tires, and clean my own windows, so I don’t run into this at gas stations.
I do tip 20% at restaurants/the hair salon, etc., and I leave $5/day at hotels. If I’m at a diner or cafe and get coffee I always leave a couple dollars even if the coffee doesn’t cost much. And I try not to occupy their table for very long. But I don’t care for tip jars at places where I order at the counter, pay, and carry my purchase away. That seems excessive.