To calculate the tip Rafael's dad wants to leave, you can follow these steps:
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Calculate 35% of the dinner cost:
\[ \text{Tip} = \text{Cost of Dinner} \times \text{Tip Percentage} \]
\[ \text{Tip} = 56.25 \times 0.35 \]
\[ \text{Tip} = 19.6875 \]
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Round the tip to the nearest hundredth:
\[ \text{Tip} \approx 19.69 \]
Therefore, Rafael should give a tip of $19.69.