It seems so long ago, but it really wasn't. I prefer the look of things today, and at least on my iPhone 7, iOS 10 seems as stable as iOS 6. They've done a good job with about everything except Siri and some iCloud issues. But iOS for iPad could use some work to make it better for professionals.
If Apple focuses on revamping Siri and provides a more robust iOS for the iPad Pro line, those would be two significant/much needed improvements in iOS. Especially with Siri, being home automation is starting to flourish more and Apple will likely be a contender with their version debuting in the future.