So the next version of android comes along and requires a newer kernel, and the phones built around these chipsets can't be updated.
The chipset folks see no new revenue for forward-porting their hacked up kernels and drivers, and therefore aren't interested in updating.
That is the problem the Android ecosystem needs to solve.
Because Apple controls the full stack, they have no problem forward porting any custom changes that they need. It's all the same codebase.