Apple typically delivers iOS updates to a device to four to five years. You may not get every major feature (some of it is tied to hardware), but you'll get a lot of them. I suspect you're just so used to Android's weak update policies that you expected Apple to be the same.
And iOS is just fine -- yeah, there's no doubt that there's less customization and variety, but it's a good day-to-day experience. It's fast, generally more stable, and it tends to get new apps (and new app features) before Android when the releases aren't simultaneous.