In short yes, the Lorentz, or more properly the Poicare group (and its Lie algebra) are the cornerstone of special relativity and also general relativity where we have such transformations locally.
Nothing seems to come close to special and general relativity in modelling nature. It is not at all understood why the Poincare group plays such a vital role in physics: for example representations theory is related to the 'species' of fundamental particles we see.
All the basic notions are indeed tied to Riemannian geometry.
The earliest hint is in Maxwell's equations which are invariant under Lorentz transformations and not the ones found in classical mechanics. Why geometry, I am not sure, but geometry really does seem to be 99% plus of all classical physics.
We get invariance of the speed of light in all inertial frames - not all frames in general. And yes, this was a puzzle and seemingly written into Maxwell's equations.
Lorentz, Minkowski and others were thinking along the same lines as Einstein. But he was the first to bring special relativity together.