I don't get the feeling they rushed that or the note 7.
https://www.macrumors.com/2016/09/19/samsung-battery-crisis-dull-iphone/
I don't think Samsung has made that point publicly, but the reporting indicates that the Note7 was a high pressure effort to exploit what they thought was a weak iPhone 7 release.
I think Samsung did publicly say that the second round of failures was due to a rush to get the replacement devices out:
https://www.businessinsider.com/samsung-issues-galaxy-note-7-battery-report-2017-1
As to the question of whether the Fold was rushed or not, I think it’s a question of design philosophy. Apple and Samsung take very different approaches to product development. Samsung seems to feel pressure to show technical leadership, and to beat competitors to market with new ideas. Then they take what they learn from their early adopter products and improve later generations.
Apple doesn’t seem to rely as much on consumer feedback. They seem to feel confident in their ability to work out a design in their labs, and essentially only release 2nd or 3rd generation products. There are exceptions, and someone is going to scream about keyboards, but I think those are exceptions. Some people appreciate this approach, some people feel it’s too paternalistic.
Apple’s approach is higher stakes, for sure. They invest more engineering time and cost, and lose first to market advantage before learning if they’ve scored a hit. If they miss, they have a couple generations of product in the lab that are now essentially overhung.
Part of what drives Samsung’s approach is also the fact that their smartphones are showcase products for their component division. Samsung makes a lot more money from their components group than they do from mobile devices. They needed to show that they are at the cutting edge of display technology even more than they needed to show they were first with a foldable phone.