No, you do not (in most cases). It’s so uncommon that if you were to offer a tip at a restaurant or cafe, your server will probably be very surprised, confused, and simply unsure of what to do.
However, there is a concept called kokorozuke (“coming from the heart”), which is a kind of tipping–a symbol of gratitude–appropriate in certain instances like for a private guide or interpreter.
When staying at a traditional ryokan inn, my mother would always discreetly pass kokorozuke (paper money in an envelope) to the okami-san (owner) or nakai-san (room attendant)–whoever is the main host taking care of us. This is a very proper and respectful execution of Japan’s traditional tipping etiquette.
Learn more about tipping in Japan: https://www.japan.travel/en/plan/tipping-in-japan/
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