It's funny, I have the exact opposite impression. I loathe picking up my iPad. I get into the browser and open a youtube video. How do I get back to the browser? Go all the way back home and hunt down the icon? Seriously?
I want to just check something real quick, I'll just pull up my home screen and...crap... I have to actually hunt down an app? For real? I just want to see <whatever>!
The navigation model in iOS, to me, is just broken. I think it's a polished experience no doubt. I think it's snappy and smooth. I just don't find it very delightful. It's work to me.
My Jellybean Nexus, on the other hand just makes sense. It flows, it puts information where I want it, and does it all in a pretty seamless way. I'm rarely lost.
For me I prefer the Android experience on it's own merits.