I recognize Samsung as being well clear of the rest of the pack of Android vendors. Other Android vendors are outright negligent, whereas Samsung seems to generally try to fight their bad incentives and come up with some decency.
Where I think Samsung falls short is execution. Samsung is fundamentally a hardware company and their software has always been mediocre in my view, even to this day. In terms of security updates they promise less than Google, they promise fewer and slower updates than Google (quarterly software updates for some devices / late in the lifecycle still makes older devices an afterthought!), and I trust their promise to execute on their promise less than Google.
Finally, Samsung devices don't have nearly the same support for third party privacy friendly OSes than Pixel devices do - you're stuck with Samsung's (warning: personal opinion) rather tasteless take on what Android should be, and have no real other options.
[1]: https://news.samsung.com/global/samsung-takes-galaxy-securit...