I've always got a five dollar bill in my pocket, ready to hand out. But....it's certainly not an automatic thing. I've been on a DME, with no bags, where the driver made the ride incredibly enjoyable. He chatted about things to see and do in the area. He gave little snippets of area historical info, all while driving very safely. He got $5 what I got off the bus. On the other hand.....there was the time I had a carry on bag that was stowed beneath the bus. I was fully prepared to tip. But, I wasn't greeted when I arrived at the bus...driver just stood there, scanning vouchers. He didn't say a word once we drove off. Not a single word until the first resort. He announced the resort, and then said, and I quote, 'gratuities are always very welcome'. Of course, there is signage right there that states this. So, he was asking for a tip...at every single resort. He never said a word as I got off...he handed me my bag, and I walked away. I think he was very surprised. But I give tips because the service I got was above and beyond what I expected. Simply because he put my bag under the bus and then handed it to me later isn't enough.
So...long story short....be prepared to tip. I usually tip $1 a bag, minimum of $3.