IME it's the exact opposite. That iOS undo action is more or less theoretical - the apps that support that are some of Apples... And that's it.
The android back action is universally supported. Its literally a button, still, to this day, persistent on your screen by the OS.
Also, the "swipe back" action on iOS is more or less fake. Its applied so inconsistently it might as well not exist.
In my head "back" and "undo" are usually the same thing. iOS has a good interface, but this is one glaring blind spot they missed to Android and browsers. It actually makes iOS quiet frustrating to use.
Also, barely related: but the "shaking your device is like shaking your head no" thing is the stupidest thing I've ever heard in my life. I'm sure Apple thinks its very intuitive and good design, but it's really, really not. That's one of the least discoverable things I've ever heard. Apple please don't do that.