The Fox television network is just treading water until its in-house television studio is sold off to Disney or Comcast. I wouldn't expect any of their scripted shows to survive long-term without moving to another network or streaming channel. In fact, this may be a better time for Lucifer to jump-ship as it will have a lot more competition soon enough (as scripted shows are ditched in droves by the Fox television network, which will leave those shows begging other networks for survival).
It's why I didn't understand why Lucifer was canceled. Renew it for two more seasons and just end it after 5 seasons when Fox switches to LIVE programing. However they will probably still have 2-3 days of scripted shows.