Is tipping in the USA something travellers need to plan for?
Yes. Treat tipping as part of the trip cost, not an optional surprise at the end. The awkwardness is easier when the budget has already made room for it.
Answer
Tipping in the USA can feel uncomfortable for travellers from places where service is handled differently. The simplest planning move is to accept that many food, drink, taxi, hotel and service interactions may not end at the displayed price. You do not need to turn every transaction into a cultural exam, but you do need to budget for the pattern. The friction is worst when travellers treat tipping as an unexpected add-on every time. Build it into restaurant and service spending from the start, then pay attention to the context. It will still be imperfect, but it will not keep ambushing the trip.