Samsung I'm tired of waiting...

One thing to remember is that Samsung makes money by selling you new devices, preferably every year or two. Therefore, instead of working on updates to software for existing phones, they focus on designing the latest and greatest new phones.

Apple and Google make money from ongoing use of devices (ads, app sales, etc.), so it is in their best interest to keep the platform fresh so you don't switch to a different OS where they won't make money from you. It's a lot easier for them to keep a handful of devices up-to-date than it is for Samsung to keep 100 updated.