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They modify the base OS a lot, and often include updates to their own interface with the new major release. So they will always be much slower than a company like Essential or Nokia who make minimal changes. But of course Samsung have had access to android 10 code for months, and are not short of resources, so while they could never match those companies for speed they could certainly be faster than they are if they wanted to be. But I suspect that they've got market research that backs up their timing, e.g. that a new version with their main flagship of the year is better for sales than if it had the same software as the last 2 years' phones have had for 2 months, or even that most people don't care enough for it to be worth putting in the resources to do it faster.
 
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