You may be looking for ‘fast casual’ restaurants whose Wikipedia entry even includes Vapiano. An alternative term is casual dining but that would usually refer to a place with table service.
If there’s any table service in a fast casual place, it’ll be limited to bringing the food you ordered to the table or removing dishes. I (US native) might tip 10% or a few dollars in that case but it’s not standard. The restaurant may have a tip jar at the counter so you can tip (or not) when you order.
Here’s Wikipedia’s list of fast casual restaurants.
Credit:stackoverflow.com‘
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