Do you think iOS 8 will be a step forwards in these aspects when it releases?
I'm considering just staying on iOS 7 because I'm totally happy with it.
My thoughts:
3G: good on iPhone OS 2. A little slow on iPhone OS 3. Apparently very slow on iOS 4.
3GS: apparently good on iPhone OS 3, 4, 5, and 6 (didn't have one, just from reading)
4: good on iOS 4 and 5. Slow on iOS 6 and 7 (probably because of the 4x resolution increase over 3GS)
4S: good on iOS 5, 6 and 7.
The 3GS/4S are significantly faster than the 3G/4, so I'd expect them to progress similarly (as did the 3G and 4). I think the 4S will get iOS 8 and run it acceptably well. The 5 and 5S should run iOS 8 with no problem at all.
For battery I don't think you'll see a decrease. The only significant drop I experienced was in iOS 7, probably because it was such a big change.
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If you're happy with iOS 7, I say stick with it. I'm considering doing the same. Plus if I ever decide to jailbreak it again, I'll always have that option. I kept my dad's iPhone 4 on iOS 5 and I'm glad I did. My mom's 4 on iOS 6/7 is much, much slower. If I had kept my 5 on iOS 6 I'd be missing out on some nice graphics but I'd also have 3 hours more battery usage every charge...