AFAIK "the norm" is...
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15% for table service. But some places changed the default options to start at 18%. IMO anything above 15 requires genuinely good service.
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Flat amount for beer / barista counter service. I usually tip $1 per beverage. 0.25 for drip coffee if they roast their own beans.
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Takeout you don't have to tip but people often do tip their favorite mom & pop restaurants.
POS machines have tips enabled by default these days. Generally if you care about tipping retail workers you should leave cash. Outside of barista/bar environments it's almost certain POS tips don't go to the person who served you.