firefish – Every item on your list of supposed deficiencies in the "post-Jobs" Apple was present in the during-Jobs Apple. For example:
• "Removing a key hardware component, causing an uproar, but swearing it is better off."
Steve Jobs did this with serial and parallel ports, the floppy disk, FireWire, the compact disc, and the list goes on. (You weren't including software here, but I assume you've also heard of Flash.) Steve was always proud of this focus, and this characteristic's continued presence indicates Apple carries this forward.
Headphone jack, Escape key (which came back), MagSafe charging (coming back), ...
• "Returning to the older hardware component that was once removed, and now bring it back."
Your example was Lightning (though Lightning has never been absent from the product line since it was introduced). Remember the iPod shuffle? The second generation had buttons, the third generation didn't, and the fourth generation did. Steve explained he understood that people liked the buttons and they brought them back. Again, proudly.
The square-edged iPad Pro in 2018 went to a USB-C port, before coming back to Lightning this year.
Similar example: Going to Butterfly keyboards, touting them as better than the original keyboard in layout and travel, then coming back to the original (better/less noisy/more travel) keyboards.
Likewise, the Touch Bar is going away soon, in upcoming MacBook iterations..
MagSafe is coming back, etc.
• "Watching the form factor for the iPhones go back & forth between cylindrical then back to rectangular."
I assume you mean "rounded" by "cylindrical." Sure, and the PowerBook once had more squared-off corners, various early MacBooks had rounded corners, and the later aluminum MacBooks brought back more squared-off corners again. Again, Steve featured and described these proudly.
• "Now I'm hearing fingerprint biometric is coming back??!!"
Similarly, Touch ID has never been absent from Apple's product lineup since it was first introduced, so there's no sense in which it's "back." I can't really compare this to Jobs since he died before that introduction, but he certainly seemed to have an eye out for the privacy and security of people's data – a whole other topic.
The iPhone X removed Touch ID in favor of Face ID, and since then, the only new iPhones with Touch ID have been the iPhone SE (2020). It might come back to new iPhones in the form of under-the-screen fingerprint detection.
Anyway. If those indicators are how you measure whether Apple remains as innovative as it was under Steve Jobs, I'd say you've provided a decent case that it is.
It's not a monolithic either/or. There are similarities because large organizations change slowly, and many long-time veteran decisionmakers are still around, like Chris Espinosa, Kim Vorrath, Eddy Cue, ... but there is change, and the debate is whether or not software/hardware/design quality suffers without the product-innovation leadership under Steve Jobs.
Will it become like Disney after Walt's passing? I don't know, but there is growing macOS bug creep and a more sprawling product lineup.