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You are indeed stuck on 8.1. Android devices all seem to have this problem because Google can't figure out how to let users control the OS, unlike what every other OS developer (even GNU/Linux) has done.This has little to do with Google.
One major issue is carriers. Many demanded that they have control over the OS: "certifying" every new major version for every handset, and then installing their own apps. Google needed carriers to push Android, so they allowed these agreements to persist.
On the hardware support side, that's an issue with drivers. Google could and should set standards for drivers, which is a lesson Microsoft learned the hard way with Windows. Finally, Microsoft did set those standards for Vista, and they were rewarded with an explosion of hatred over bad drivers that they didn't write and didn't want to spend money supporting anymore.
At this point, it's mostly up to manufacturers to keep drivers updated. If they won't, then there are communities like LineageOS who try (and sometimes succeed quite well).