Yes, most likely Rubber or Grey rabbitbrush (Ericameria nauseosa formerly Chrysothamnus nauseosus). However, there are many subspecies.
Could also be Chysothamnus parryi (also having numerous subspecies) at the higher elevations such as Cripple Creek and Estes Park.
Our most abundant is the former and it has a wide amplitude over the landscape. But not finding it in abundance in Colorado Springs proper isn't surprising given major growth and construction the past few years. Native shrub communities are generally eliminated with tract housing and ballfields. Grasses being used as a replacement on the roadsides as new streets are constructed is the norm.

I like snakeweed. It has spikes of tiny yellows blooms. The flowers are very fragrant. The plant is a low growing bush. I haven't seen it get more than about thirty inches tall. It rounds itself out beautifully, when left to its own devices. The foliage is rather ferny looking. It self-seeds readily. It seems to be perennial.

Most people I talk to refer to the rabbit bushes as 'chamisa.' And yes, they are quite spectacular in autumn, particularly to newcomers who aren't accustomed to seeing them. We have a couple in our front yard that I planted as very young plants, and they are HUGE now.
I'm sure I've seen snakeweed, but there seems to be a number of smaller native plants here with yellow/golden flowers, so I'm not sure which of those would be the snakeweed. But they're all great!