For the most part they're fairly similar, but here are a few differences that stick out to me.
iOS functions better within it's own world and it's something Android will probably never match for obvious reasons. Streaming music to a stereo is completely seamless with iOS (assuming you have an Airport Express or Apple TV) while it's a chore with Android unless you use an intermediate device (Xbox) or have a DLNA capable receiver, and even then it's not as polished.
I also find Android to be kind of ugly. It has to be designed to handle scaling between various size displays which prevents as crisp of a look, and Google also isn't really known for their great UI design aesthetics.
On the other hand, I find Android to be better in terms of UI structure. I like how easy it can be to change often changed settings (WiFi for instance) and I also like the overall layout. Some widgets are handy but I think most of them are ugly. It also obviously wins on customizability which can be a huge deal depending on how you want to use your device.
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