I have not switched from iPhone and probably won't due to ecosystem. But I agree, stale and boring. iOS is just the same. Forever. The same.
Why is everyone obsessed with novelty? Not innovation, mind you, merely novelty.
No iOS has not "arrived", but it does what it does pretty damn well at this point, and allows me to do a lot of things I couldn't do before the iPhone came along.
Don't get me wrong, if there are innovations that make it even more useful, great, but I'd rather stick with a good phone and OS that works well than jump the gun on gizmos and eye candy.