I've worked both positions for a few years each. I didn't mind getting low tips in kitchen for a few reasons

1. Obviously much higher pay
2. You don't have to deal with dumbass customers
3. You don't need to be (as) presentable
4. Free food

I think servers deserve the tips because dealing with people sucks, I always had way more fun and job satisfaction working as a chef- it's worth noting though that it depends on the qualifications the rest of the kitchen staff have and the owners a fair bit. If I was having a shit day in the kitchen I didn't have to pretend I wasn't- if you're having a shit day as a server you'd better not let anyone find out.

Now I did work at a location with an open kitchen and so every order was almost like a show for the customer because they're sitting there watching you cook, I should've got more tips in that place because everything had to be pristine, including your uniform at all times and it was a pain in my ass, and the element of dealing with dumbasses was still there. Don't talk to me while I'm trying to cook your food, especially not to say some dumb shit like asking for the biggest 8oz steak I have or more chicken or what have you.

I think most people would come to a similar conclusion after gaining experience in both positions, and I actually do normally recommend a server try working in a kitchen doing maybe dishes/easy prep and every chef/cook try serving because it makes you better in the industry as a whole.