In states like California you don't need a lawyer, you just open a case against them with the state labor board.I used to deliver pizza here for 2 different local chains. I was paid minimum wage plus tips at both with no mileage reimbursement. I was netting less than minimum wage after subtracting vehicle costs by the time I quit. I tried to sue for it but couldn't find a lawyer willing to take the case.
In most markets, I'd assume that working for the big 3 would be more lucrative than uber but it would involve getting the good shifts every week