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Did Jesus endorse tithing?

Yes. In his warning to the Pharisees about legalism (they were tithing, but ignoring mercy and justice) he tells them that they should not neglect tithing, but also that their hearts should not neglect mercy and justice and other attributes of the law.
“You give a tenth of your spices–mint, dill and cummin. But you have neglected the more important matters of the law–justice, mercy and faithfulness. You should have practiced the latter, without neglecting the former.” (Matthew 23:23)