My parents once owned & personally managed a restaurant in Australia, and when we were kids my family ate out a LOT.
They diligently trained us how to be good, but not passive, customers.
Here's the thing with sending back food, making a complaint known, or calling over a manager when you aren't being heard.
It helps the restaurant.
Customer service functions best in a dynamic relationship with those they serve... both listening to issues and responding to them.
When customers become mute... guess what happens? Service continues to slide down that hill until new customers don't enjoy their experience either.
Once a restaurant gets a bad reputation, it dies... the staff is out of work and the owners loose considerable money.
That's why the cruelest thing you can do to an establishment is keep necessary information to yourself and just never go back.
Really good service, really successful businesses, you will see the manager actively strolling around and proactively asking the guests how everything is. This isn't searching for compliments. They want to know what's wrong, every little detail.
Good service is a product of incessant, dutiful refinement. It doesn't happen by accident or by instinct, but by numerous small corrections.
So yeah, when I go to a cheap place I'm usually satisfied if food is simply edible. I would still tell them if there were cooking issues because I don't want someone to die and the place get sued for everything the oweners are worth.
But when I go somewhere nice, I pay attention to more detail and give management more feedback if they solicit my opinion, or if I have justification to initiate a complaint.
One excellent reason to complain at a nice place is if food doesn't match the description. Are other customers going to be happy with that? What happens when the food critic shows up and next thing they get a terrible review over something simple to fix?
As my parents instilled in me though, the idea is how you complain.
It should always be polite, in quiet tones so other diners don't hear, and it should never involve blame. It doesn't matter how the food got messed up, one should never assume it was intentional. You should assume the restaurant wants to please you, because even if a particular staffer doesn't care, the owner surely does.
Also, follow the chain of command. First bring your issue up to your server. If they are good at their job they will advocate for you, and this gives you a chance to reward them with extra in the tip.
If a server doesn't help you graciously, then you've stumbled on an even bigger problem for the establishment. So now you give the server an opportunity to bring the manager for you, and if that doesn't happen then you go to the front desk and request them yourself. Once you have their ear, keep in mind this is a new interaction from the manager's point of view, so start fresh in explaining your problem, and don't get upset with them too quickly.
If they don't help you or are particularly rude, which is rare, you can look the owner up online and give them a call. You may be the only person providing a true window into what's going on in their business when they aren't there, and your complaint may be the only thing standing between them and bankruptcy.
In my view, a truly kind person let's others know what's wrong in time for them to take action to correct it before it bites them in the ass. Just standing back is the jerk move where you want them to fail.
I spent time as a server and manager myself at various places, and I was always happy to fix stuff. What I was not happy with was people waiting until they were royally pissed off and then chewing me out, or going way above my head before I had the chance to show I cared.