Yes, this makes sense! To be just a little more clear, I might say, “We are just one motor scooter shy of taking all 10 people to the beach.”
Examples:
I was just one question shy of passing that test! (So, I failed the test, but I was just one question away from passing.)
We’re only one person shy of having a whole group.
Usually it’s paired with “just” or “only,” like in these sentences.
Does that make sense?