No, expecting someone to pay you when you do not clearly tell them how much they owe you is a jerk move.
Simultaneously, laws that allow employers to pay different minimum wages and required extra effort from the employee to get the full minimum wage are also jerk moves.
What about the person making the food? They arguably do more work than the person who takes the order (if at all, with how you scan a QR code these days) and they bring you the food. The tips are almost always for the wait staff and doesn’t go to the kitchen.
I haven’t worked at a restaurant but I have worked at dine-in movie theaters, and have friends who have worked in the kitchen and waited tables. There are some angry people but majority of the time they set tables, take orders, bring the food, close out checks. I don’t know if that’s more work or less work than the kitchen, to me it’s about the same. I’ve always believed they should be paid in the similar ballpark as each other and eliminate tips.
The restaurants being cold is news to me, majority of the places I’m familiar with felt like room temperature, except for drafts when the door is opened.