Do we have to pay tax on the tips left for waitress/waiters?

We went out to dinner and the tip was added to the bill. The bill was itemized showing that the tip was being taxed. When I asked about it, the person at the restaurant said, "yeah we have to charge tax on the tip". I wanted to challenge them but I wasn’t confident enough too… Should they charged me tax on the tip???
This was in the United States….

no because the tips go to parties that do not collect sales taxes on behalf of the government therefore you should DEFINITELY 100% not have been taxed on the tip.