If you don't want to tip your driver then don't use door dash. Just because tipping sucks does not entitle you to using other people to who rely on tips to make a living. It's how the system works now so either write to Congress or stfu and stop using these services. It's not that hard. The constant whining on this topic is incredibly annoying and the people who rely on tips are never considered by redditor types.
There is no magical solution to this problem where you don't end up paying more money for your food, whether it's a living wage or something else. And even the "living wage" people propose would almost certainly be a pay cut for most servers/drivers. So don't try to pretend you're helping anyone other yourself with it.