While it would be nice to see iOS on a Samsung or Xiaomi phones, don’t expect that will happen anytime soon or even in your lifetime. There are several reasons why, but it boils down to Apple is not Microsoft and iOS would not be as great on Android as it would be on iPhone.
Apple is not Microsoft
Apple to phone is totally different from Google’s approach. You can think as Google is the Microsoft of phone OSes. Apple has vertical integration on the phone and the vision dictates the hardware which dictates the software. Apple competitive advantage is that Apple has complete control in the hardware and the software of the phone. While the disadvantage of such control is that you don’t have much freedom in what you can do, the advantage is that the hardware and software is a highly optimized version of the smartphone.
So Apple is not going to support any other phones that it does not make since that means they would lost all competitive advantage on the smartphone.
iOS might not be good on Android phones
iOS big difference with android is how they approach the hardware. Since Apple controls the hardware in iOS, they know exactly what buttons, what kind of hardware that the device has. Android on the other hand, does not have such luxury so it would build to be as formless as possible. There is no wrong approach since both have different objective, but because of flexibility, the android experience is different on different devices. Moving from iPhone 6s to 12 for example, you can expect the experience, the app will be the same, expect in terms of speed and capabilities. In Android, one brand of phone will feel different from the next.
Because the need to support multiple platforms, the stock Android OS has to be as simple as possible and each phone manufacturer customize the OS to fit to the phone. If iOS ever to have the same flexibility of Android, it too be follow the similar approach and the result would be the same: different devices will bring different experience. So there’s a possibility that the experience would not be as good as having iOS optimized for the iPhone. Evidently, this is was the problem with the Android platform that Google has to create their own phone like the Pixel 4 as a ‘benchmark’ phone.
Efforts
Although Apple does not allow iOS to be run on any hardware except their own, it does not mean people has not try to do it. However, efforts has been failed due to closed nature of iOS and iPadOS. And the hardware level differences on Android and Apple hardware makes the hurdle of getting things to work is just not worth it.
On the other hand, there are efforts to put Linux or Android OS on Apple mobile devices. There are met with some success, but not enough to be useful at the moment. Project Sandcastle is one of the most concentrated efforts to put android on iPhones.
Conclusion
iOS will not be coming to Android phones because one can think that iOS is the anti-thesis of Android. Android is Mr Fantastic where it is very flexible, smart but sometimes experience can vary. iOS is more like Dr. Doom where everything needs to be in order and have a tight grip on how everything works, but it has its fans.
References
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