Having used both extensively (but Android more so), I find them both pretty straightforward to use for most common tasks. Both still have their more granular settings hidden behind menus but that seems to be the tradeoff for surface simplicity and aesthetics.
That said, every so often there's something I need to do or want to do that's a little bit outside of the default setup. Little things that matter to me nonetheless. Things like keyboard layout, default apps, home screen layout, icon spacing, etc.
On iOS the keyboard thing seems to be solved now with addon keyboards but even those other minor preferences or layout tweaks are often limited or impossible on iOS (unless you manage to jailbreak your device). On Android they're usually just a setting change, app install, or (rarely) an APK install from an independent developer away.
This isn't meant so much as a critique of the Apple way of doing things. I'm well aware that my needs and wants aren't necessarily the norm or in line with the majority. Spending efforts addressing every possible use can cause just as much harm as good in a final product.
That said, once I have multiple options that both "succeed" well, I start to choose based on which one "fails" better (ie: which one makes it easier for me to change or fix the rare thing that doesn't just work the way I want it to).