Table-service restaurants always take your card (Not sure if they support chip and/or contactless), but most other services support chip and contactless. (2025, NC). This wasn't true in my experience until a few years ago. We lag Europe by 5+ years on payment techs. E.g. chip, contactless. There's a coffee shop holdout near me that was magstrip only until a few weeks ago.
This was true five years ago, not true now.
When I eat out in NYC now they almost always bring the machine to your table so you can use contactless and you select the tip amount on the screen.
The other week I went to a place that asked for my card and brought out the receipt for me to sign and I had to manually calculate the tip and was struck by how long it's been since I had to do that.