Apple are still at the top and happy to coast on their brand to get by. Samsung and Google by comparison have to innovate to get the attention of customers.
There are a few minor things that annoy me about Android. I have an Apple TV hooked up to my Android TV because the native interface is crap!
I can also say the opposite. I am all in with Apple because their take on "innovation" appeals to me, and it matters more to me than whatever android / windows / any other platform has to offer. By your definition, I can also interpret it to mean that the competition is not innovating. At least, not in a manner that I care about.
To me, it feels more accurate to state that Apple views innovation very differently from the competition. And because Apple runs iOS, it doesn't need to engage in meaningless spec wars with other smartphones. While android smartphones are busy trying to measure which has more ram or more megapixels in their camera and which takes better moon shots, Apple is free to instead look at innovation as something that can directly improve customers’ lives.
In a sense, it's not unlike how, at a time when android smartphones were obsessed with having more (slower) cores, Apple instead made the right call of focusing on 2 faster cores with their A7 chip back in 2013. It didn't matter that everyone else seemed to be laughing at the iPhone (and by extension, iPhone users) for having less ram and less cores. Apple never lost sight of what mattered - not specs, but the end user experience. If 1gb ram and 2 cores was what was needed to give the iPhone 5s faster performance and better battery life, then it was the right thing to do, even if it didn't look impressive on a spec sheet.
Instead of announcing a splashy new feature or upgrade just to be first or different or to win a meaningless spec war, Apple announces select features and upgrades that it thinks will lead to better experiences. While this tends to lead to shorter new feature lists, the new features that have been announced have often been more impactful. Emergency SOS via satellite is a great example which has already been credited with saving lives, and it showcases Apple doing what they do best - leverage their control over hardware, software and services to offer unique value propositions.
This isn't a feature that makes for a riveting YouTube review video, but it's also hard to deny the value found with having such a feature present in your device.
It wouldn't be easy for say, Samsung to offer a similar feature. It's not just having the chip in your device. There's the custom software designed by Apple, there's the customised hardware found in base stations that receive the signals from the satellites, and there's Apple's willingness and financial capability to buy an entire company's worth of satellite capacity to support said feature. Putting all these together will not be easy for android smartphone OEMs, nor will it be cheap.
The same can be said for a lot of things that Apple does right, and I don't see why they somehow don't count as "meaningful innovation" simply because Android doesn't do it. For example, Apple gets to reap the benefits of having a cohesive ecosystem of hardware, software and services because they were the only company willing to invest in having an ecosystem in the first place. The iOS App Store gets the best apps because of the lower incidence of piracy (since users can't readily sideload apps) and because Apple actually invests more resources into curating apps compared to Google. Every year, Apple releases a new version of iOS without fail which gets pushed out to hundreds of million of devices on day 1 without fail.
And for what it's worth, I do also have my Apple TV hooked up to my smart TV, not least because I don't trust the TV's OS enough to connect it to the internet. And that's probably another reason why I don't see myself using android anytime soon (or ever).