Minimum wage is already $20/hr where I live. Tips can approximately double that. There is no version of the world where employees will willing give up those tips and no restaurant can afford a $40/hr minimum wage.
This is just a one-way ratchet on employment costs, not a plausible way to eliminate tipping.
Of course they can: increase prices accordingly (I'm not commenting on what a reasonable wage for serving is, just that tipping is a bad way to get to that wage).
It's not like customers don't have to consider the cost of the mandatory tipping bullshit when you consider where to eat and whether you can afford it in any case.
This is just a one-way ratchet on employment costs, not a plausible way to eliminate tipping.