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Tipping in the US is voluntary. Not mandatory. With that said, it is customary if you get good service. Basic tip is 15% of your total tab. Given your financial resources at the time, $5 is okay, its better than the $0 you COULD have done if you wished.
In most of the world, tipping is NOT customary. Indeed, in China, during the Mao years, if you tipped, the waiter would get PISSED AT YOU for condescending to him.
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