Few things. They don't need to go to the DMV to get an ID. Fortunately, ID isn't required to vote! As for the lost wages, my polls were open from 7am to 9pm. If there are people out there working 14+ hour days, maybe they can do the early voting or absentee voting or something. As for me, I had a nice 10 hour work day on Tuesday, but I spent the 10 minutes in the morning to go to the polls before work, and didn't need to take the day off.
As for the underserved communities. I imagine you're referring to the inner-city. Cities have polling places all over the place due to the increased population. Hell, you can probably be anywhere in a city and hit a golf ball to the nearest polling station.