I had a horrible time teaching my grandparents to use the gesture navigation on their new iPad (they still hate it, they still get regularly anxious because they can't reliably make the "home" gesture instead of clear feedback of a hardware button and there's many gestures they accidentally trigger which cannot be disabled in A11y or MDM settings) - but they saved money and made it cool.
It'll be the same with phones as it is with cars - it's cheaper to provide shitty experience. And it's not like you can go anywhere, Apple owns your data and ecosystem now. So we'll just make do with crappier things to allow the manufacturer to extract more money, like we have to make do with crappier products on other markets.