Buses are amazing. I think the only innovative thing about Lyft Shuttle is that it avoids the class implications of taking a bus.
maybe other bus operators are better, but denver metro's RTD takes months to make minor route timing changes. i expect new routes take even longer.
I think you do have to be careful with excluding the poor from a new "invention" that is designed to make better the thing that a lot of poor people use. But I don't think poor people not using this initially is a good enough reason not to try.