Calvin,
Have you and yours considered rolling the estimated tips into your base pricing and making a firm "no tip" policy?
I've found most people that are going on vacation really like to see a true "total package" price. I would think seeing "no tips, no exceptions" would make a lot of people feel relieved and they'd be happy to pay the perceived extra price.
I think a lot of people simply do not know how to tip. And they're afraid to ask.
Dave