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Yes. And by my experience they all seem to genuinely appreciate it. The mobile service is more personal than a visit to the service center where a nameless, faceless tech works on your car.
They do get paid, right? I wouldn’t even consider it. Other brands charge upwards of $200 per hour for shop time now. Would you tip those technicians for working on your Dodge or Honda?
A tip may be money well spent the tech had to come back out for another service call. It might be the difference in being given an excuse that the issue is within spec and getting it down under warranty. Many times these are judgment calls.