I'm not saying it's impossible in the cosmological sense, but I'd easily bet it will never happen, broadly, in the US in my lifetime.
If anything, the US has moved 180 degrees in the opposite direction in the past 15 years. This is largely a result of the growing inequality and huge increase in expense in major US cities. Up until about 20-25 years ago, 15% was the "standard" tip amount at restaurants, now it's more like 20%. Virtually every place I go asks for a tip now (even places like a bodega where the person behind the counter does practically nothing - I pick out my food myself, I don't need a bag, and I pay with my phone) as a result of the Square/iPad tip phenomenon, and tipping in many of these places was unheard of just 10 years ago.