That's how it's always come across to me. I buy Nexus or Nexus-like devices (the 2014 Moto X being an example of the latter) and just like iPhones, they work just fine for me out of the box.
In general, even the devices I don't personally like with OEM skins and addons work just as well out of the box for typical uses like web, email, phone, calendar, nav, and your average smattering of entertainment and communication apps.
In that regard, there's not a lot of difference and both platforms succeed well. It's more about how well they "fail". When I use my iPad and it doesn't do something I want or behave in a way I prefer, my options are often similar tweaking and tinkering. Many times, I would need to jailbreak the thing in order to install an unsigned app not approved by Apple to get it to do what I want.
On my Android devices, it's usually a lot simpler. iOS has improved a bit in terms of customization (being able to "open with" various apps instead of the factory defaults, third party keyboard layouts, and stuff like that) but that was always the case on Android.
As these platforms have matured, they've both got their "success states" pretty solid so now it's down to how well they "fail" and how easy it is to get my device to do what I need without jaibreaking or otherwise taking advantage of security holes to gain access to certain settings or capabilities.