Obviously the medallion system is pure rent-seeking cartelism, and should be smashed to smithereens post haste. But some of Uber's "innovations" over their competitors are pure cream-skimming like not having handicapped accessibility, and classifying employees as "independent contractors" so they don't have to pay benefits (not that your regular taxi driver really has it any better, mind). And their specific corporate culture seems to be worse than average.
More choice, better quality, and expanding people's ability to get around without their own private cars is something we desperately need. So I support the sector. But I also don't want to just replace one monopoly with another, and not all regulations are evil.
In conclusion: I'm on Team Lyft.
Do actual taxis have that? My urban experience is limited, but it's hard to imagine cabs running around, say, New York, with wheelchair ramps and everything.
Not all of them do, but it's required for a certain percentage of the fleet (and is, of course, not cheap to comply with). You do see wheelchair-accessible cabs from time to time.