I understand your sentiment, and extend no judgment toward anyone who chooses not to tip.
I work in a field where thank-yous and acknowledgements are few and far between. Although I'm a white collar professional, my first job back in my college days was as a janitor, and I have many family members who've spent their entire careers in humble jobs in vital service industries. My opinion is that if I can comfortably afford a room that costs several hundred dollars a night as part of a vacation that costs thousands, adding another $5 or $10 to acknowledge the people who help make my stay a pleasant one -- most of whom could not afford to stay in the very room they're cleaning -- is literally the least I can do to thank them for doing what I know, at times, can feel like a thankless job.
On the other hand, I realize that other travelers' budgets, and opinions, differ widely on this topic, and that's okay, too.