Should I wait untill I land at the airport or book in advance? (Uber and Lyft)

On-demand service. No need to schedule in advance for airport pickups

Uber and Lyft are both on-demand services, so they are designed for users to request rides when they are ready.  Both companies encourage customers to only request rides when they are ready.  

This is especially the case with airports, where there are generally plenty of Uber and Lyft drivers nearby or waiting in queue. This is true around the clock as airport pickups are often desired by the drivers, and the wait time should be very limited.

"Scheduling a ride" may give you a piece of mind; however, you may not want to deal with the hassle if your flight is delayed or it takes longer to grab your luggage.  Due to this nature of the trip, it is not recommended to schedule.

(Side story: Some customers known to request a ride from within the airplane as they arrive, say during the taxing on the tarmac or when the flight is in its descent.  Drivers have observed actual surge pricing in middle of an ocean in the area where the planes approach the airport.)

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Uber Driver, CEO of TaxiFareFinder and Unleashed, LLC