Imagine you're shopping at a store and a stranger comes up and hands you £10 and says "this is for you". You'd probably feel kinda sketched out and suspicious of why they're doing that, right? I live in the US but I imagine that might be a similar feeling to getting a tip in a place where tipping isn't a normal thing.

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If tipping isn't the expectation, then just do not tip. Follow the norms of wherever you live.

Don't worry so much if this one waitress was offended, she was probably just caught off guard. Relax, let it go - you didn't do anything malicious or with bad intent, so all is good.

It may be against their policy