This misperception is key to understanding the market, which is really two markets: Android has cheaper phones and dominates there but in the mid to high-end market the situation is reversed because the equivalent Android devices aren’t cheaper and because Qualcomm/Samsung lagged so far behind on CPU performance you’re getting something which performs like 1-2 iPhone generations back in most apps.
Breaking out of that dynamic is hard because the Android manufacturers have to share more of their hardware revenue with less service revenue to compensate, so they don’t really have much room to lower prices since they’re already underperforming at the same price points.
What could change a lot would be regulators forcing App Store competition or limiting revenue sharing across units. Apple and Google both benefit from that at the expense of the pure hardware vendors, but I’m not sure how effective e.g. the EU App Store regulations will prove in practice.