iOS 5 seems to be running fine on 3GS. http://9to5mac.com/2011/06/07/how-does-ios-5-run-on-iphone-3...
https://market.android.com/developer?pub=Google+Inc.
And if the past is any guide, there will be newer and better apps added to that list shortly after they are previewed in the latest Android release, sometimes announced with very strict requirements but then later relaxed as features are backported e.g. the new Market that at first was 2.2+ only:
http://androidcommunity.com/silent-update-brings-2-2-feature...
I own a first generation iPod Touch and haven't forgotten how quickly OS updates for that device stopped, or how many features were unavailable even when the OS update itself was available. And yes, you had to pay for the OS update.