To be fair, I think that comparing Samsung updates (or Android in general) to iOS device updates is not really an apples-to-apples comparison.
Yes, it's true that Sammy's get two, maybe 3 full-OS updates in their lifecycle, but that's somewhat irrelevant.
Apple loves to trickle their features via said full OS updates. Android doesn't work this way.
Android phones get features so much sooner than Apple, that those one or two updates are quantum leaps forward (even if they lack Apple's signature polish).
I left iOS for Sammy after my 4s went to doodoo with iOS 7 (to a Galaxy S4--see link below), and remained on Sammy's camp until my iPhone 12 Pro.
Each platform has it's strengths and weaknesses, and now that I'm living the (almost Mac-less) iPad life it made sense to de-hybridize my ecosystem and go full Apple again.
But there are STILL features on my old S4 from 8 years ago(!) that are missing from iPhone. For example:
WHY THE HELL DO APPLE iPHONE APPS NOT WORK IN LANDSCAPE???