Yeah I tip and as a rule of thumb I usually work to 10% too but I'd not be too bothered about holding my hand out just to get a quid back, so I probably would have said keep the change in your circumstance above.
Saying that though, I went to a restaurant the other week for the first time in ages due to Coronavirus and being somewhat at risk if I caught it.
I went with my daughter and everything had changes from how it used to be - she did everything from her phone.
When we went in we were offered a table but I asked if we could be seated slightly away from a large group of noisy folk who were already there - and yes that wasn't a problem.
It was a Japanese restaurant which my daughter likes and I told her to order a selection of dishes we could share, we sat down and she got her phone out - which is what all the young ones seem to do every time these days - I thought it was a bit rude of her but I thought it best to say nothing though.
I was sat waiting for the waitress to come to take our order and said to my daughter why was it taking her so long when the place wasn't that busy when my daughter explained that it isn't done that way anymore and that she had gone on to her phone made the order and sent it using some app or something and using one of these 'square box' thingy icon's that were on each table (if you know what I I mean?).
So my daughter wasn't being rude, the waitress wasn't ignoring us and the food order had gone straight to the chef and our food was brought to our table shortly afterwards - and very tasty it was too!
Once we had eaten we had to go, so I waved and and asked for the bill which was there as we got to the till on the way out.
I told my daughter I'd treat her (isn't that what dads always do anyway!) gave her my card to pay and was just digging in my pocket for a tip, when my daughter said don't worry.
I thought by that she would find a couple of quid for a tip - as apart from the waitress bring us the food and drink, she hadn't actually done anything else for us - my daughter had taken the order and delivered it to the chef!
When we got outside the restaurant I was a little bit less than amused to see that a 20% service charge had automatically been added to the receipt and that the waitress (or more likely the company) had taken half the country's national debt off me for the pleasure of finding my own way to the table, my daughter ordering the food and delivering it to the chef and me stood waiting by the till for them to press a button for my automated bill!
Well they say you can't take it with you and the food was good and we did have a nice time but I'll make a point in future of not paying a kings ransom again the next time we more or less do all the work of the waiter service ourselves!