Use default title for single events with default page tpl

add_filter('the_title', 'tribe_restore_title');

function tribe_restore_title($title) {
    global $wp_query;
    global $post;

    if (-9999 !== $post->ID) return $title;
    if ( ! $wp_query->is_singular || ! isset($wp_query->tribe_is_event) || ! $wp_query->tribe_is_event) return $title;
    if ( ! is_a($wp_query->posts[0], 'WP_Post') || $wp_query->posts[0]->ID == $post->ID) return $title;

    return $wp_query->posts[0]->post_title;
}