Apple doesn't have the luxury of being truly innovative because no one accepts the teething pains of really innovative things when it comes to Apple products. Any small issue is turned into an overly dramatic #somethinggate. That is why Apple generally waits until technology is mature before incorporating it. People claim they want innovation from Apple when the truth is they want reliability, but you don't get first-to-market innovation AND reliability.
For example, most people who buy the Samsung Fold accept there will be a crease or line, but they would never accept that if they bought a the same thing from Apple so Apple has to wait until they solve that issue.
TL-DR - Samsung can release the Fold-1; Apple has to release the Fold-5.