I had an N95, I thought it was quite a good piece of kit.
What people never seem to mention is that the iPhone had a generous data plan, whereas I was paying by the byte.
That is a massive difference in use case.
N95 had so much of features that nobody used them. They just were happy with all the stuff they never used. Been talking about the subject to lots of people who bought the phone then.
N95 was released the same year Apple demoed iPhone first time. N95 sold really well then. Nokia's old management has told afterwards they were so lulled by the success of N95 they were not worried about iPhone at all. They did N96 which was even more stuffed than N95 but with the same UX flaws.
In hardware design sense it's really well engineered: https://en.wikipedia.org/wiki/Nokia_N950