At an airport once the coffee stand had a girl behind the counter that would just hand you an empty disposable cup. She didn’t even handle cash, it was card only using a self checkout POS system. And it still asked for a tip with the default of 20%.
There should be a way to specify a negative tip.
If you really want to make a deal out of it, you hand it back to the server and ask them to select 0 for you. Mention that you don't think the service deserves a tip, and that you resent being asked.
If enough of us start doing this, it has a chance of applying some back pressure, although unfortunately that force acts through the poorly-paid checkout operator who doesn't directly have the option to influence decisions.