Figured this out last night, with the help of some strategically placed `puts` statements.
The spec/ and lib/ folders weren't being included by spinach in the $LOAD_PATH, and thus the reason the autoload wasn't working.
For any one trying to run spinach and tie it in with the rails_helper.rb in the future, here's what I had to do to get this working:
features/support/env.rb (spinach config file)
# Help Spinach find the spec directory for autoloading
$LOAD_PATH.unshift(::File.expand_path('../../spec', __dir__))
require './config/environment'
# Most of the desired config is already in rspec
require 'rails_helper'
...
Thank you very much for allowing me to crash the rspec party!