True, but then, there's also nothing self-evident about the multi-clicking Home button overload actions that Apple has had to do, because of their refusal to add more physical or virtual buttons.
For that matter, pinch-zoom, swipe to go back, and swipe up / down for control / notifications, or sideways to delete, are all actions that most people have to first know about. Easy to remember once shown, but not obvious to anyone new to touch devices, because they're hidden gestures.
Everyone says this, but Apple's cursor control and copy selection are a pain sometimes compared to Android. The lack of a Back button is too. Overloading the Home button with multiple click behavior is also just a hack that would be derided on any other system. So no, I don't think they always "do it right".
tl;dr - It's not unusual to have to learn a new gesture or button sequence, before it becomes "intuitive".