The Samsung hardware is always great. As good as they come, in the electronics sense. Its their software support that is always in question. That's why a Nexus S is recommended if you want a Samsung Android because it combines the best of two worlds --- Great Samsung Hardware but not the Samsung software because its Google controlling the OS support directly.
Man I bought the Samsung Galaxy S last month...everyone's saying how bad they are...I feel like I made a huge mistake
Its not a bad choice per se. A lot of people I know seems satisfied with the Galaxy S. But if presented with HTC as the other option, I would prefer the HTC.
But of course, the exception being if HTC vs. the Samsung Nexus S, I would go with the Nexus S. It would be like Samsung Nexus S > HTC Incredible S > Samsung Galaxy S.
In fact, there is no reason I think why you should not consider the Nexus S, given its similarity to the Vibrant and Incredible S, and you get the direct Google support for it, not second hand filtered like the other two.
Note: HTC needs to stop using "S" --- it is probably annoying the heck out of Samsung and the two are very close to a trademark complaint. It already annoyed the heck out of Samsung which originally tried to use "Inspiration" for the original name of the phone called Droid Charge now, that is before HTC suddenly pulled "Inspire" out for that AT&T phone.