I can understand some Android users have frustration over carrier issues. But every version I have used has been a significant improvement over the prior, especially under the hood. I suppose one can argue that Android allows for too much end user customization (directly or by third party) but I would rather suffer that than the alternative.
Android also runs on old harware. My LG G2, ancient by many measures, runs Android 7.1.1 via AICP and is more responsive in every way than the original stock 4.3. Unless I shatter the screen, there is no reason to replace this phone. Granted, custom ROMs are beyond grandma but for anybody with marginal tech know-how there are step-by-step guides to upgrade. Yet, iPhone owning friends with older models first complain about iOS updates being 'slow' and then eventually run to the store to "upgrade" their phone to the latest iVersion.
IMHO to say Google does just the minimum, especially compared to iOS, is not really the case.