They both spent years picking from the corpses of Windows Phone and WebOS for new features. Now they have a duopoly with only each other for company there’s not been much budge. Apple’s biggest changes to iOS these last few years were widgets and an app drawer. These were welcome ideas but something Android had at the start.
I actually wrote an article up on the whole thing together with a lot of supporting links from people with more knowledge about these things than I: https://carlst-james.medium.com/ergonomorphism-next-big-thing-in-ux-f895495051ed
It sounds like I’m being hard on iOS and Android but the truth it I use them both in my daily life and 90% of the time they’re brilliant. But I do sometimes wonder how basic ideas (like home screen icons still floating to the top of the screen) still get passed their dev teams.