I still think that the supposed "superiority" from the first iPhone was mostly sold by north-american media. Americans at that point felt their pride hurt because of a Finnish company dominating a highly technologic market. N95 basically lacked a touchscreen. In all the other areas it was blatantly better than iPhone: better camera, 3G support, IR transmitter, FM radio, tons of great software, a great GPS/Maps application with offline support... well, if american media sold these features with the excitement they sold iPhone's touchscreen, well, there would be another story.
5800 XpressMusic was gabage. It was an attempt to respond to north-american media, but it lacked most of the best features N95 had, like a 5MP camera, dual ARM11 and graphics acceleration. The 5800 XpressMusic was basically a spartan smartphone with a touchscreen. No way it could compete with iPhone 3G/3GS, which had a capacitive touchscreen and (already) a good set of fancy apps.
N900, N8, N9 and 808 were from another lineage of phones. From late-2009 (N900) to mid-2012 (808) Nokia produced interesting phones which could compete with the iPhone hype. However, it was to late... worldwide media had already bought the "iPhoneist" discourse. It wouldn't matter what Nokia would do anymore: real Linux phones capable of running GPL software (N900, N9); cameraphones which produced pictures like premium compact digital cameras (N8 and 808) and superb audio quality capable of recording loud gigs without distortion (808). Nokia tried everything, except running Android (then it would became a commodity-phone manufacturer) or iOS (impossible). People said that Symbian lacked a good set of apps, but the truth is that what people called a good set of apps were basically Facebook. A decent Facebook client would have turned Symbian a viable operating system again. Around 2011 Symbian would need a slightly broader set of apps to keep its viability, perhaps adding Instagram and Foursquare. But the truth is, no company was interested on investing money on anything that didn't sold well in USA.
If you played with a N8 or N9 or the 808 it's hard to argue that UX was worse than those from iOS and Android devices from that time. It was different, but it had a notification curtain, home screens and most of those gimmicks common to touchscreen devices.
CORRECTION: Nokia manufactured an Android phone when it was already developing Lumia (Windows) phones, but that happened in the decadence years (around 2012-2015).