Nokia DID update the N95, several times, as the do all their devices. The N95 received a number of updates as did the N95-4 that I had as with my E71, E72, etc. The issue with Nokia is that when they finally DO release a firmware update they normally break more items than they fix. If you're talking about upgrades (different from updates) from FP1 to FP2, they have never done this for any devices and I'm waiting to see how the new S^3 devices fair with updates or upgrades.
Personally it doesn't matter for me, as you said, Android is my next device. I have no interest in Symbian devices nor am I all that interested in MeeGo anymore since there is absolutely no news on flagship devices.