YES. Put simply, your personal auto policy is for personal reasons. You go to work, the grocery store and maybe take a trip.
But with Uber/Lyft, this is a BUSINESS use, thus since getting (paid), then you should get a commercial policy. All personal auto policies have an exclusion "in the course of business", which in the past usually applied to pizza drivers, which were the most common.
Now the key is, when you (turn) the app on, then you are now driving for business and not for personal. So even it you had not picked a passenger up, then once the app is on, then your own personal policy (WON'T) cover you in an accident.
retired auto adjuster