I envision a day when Android core sits happily on every phone, free from getting molested by OEMs and getting updates directly from Google, while OEMs are free to keep their overlying customizations up to date as they seem fit. As long as everyone stays compliant to the APIs and frameworks, Samsung can take weeks or months (or never) to update Bixby, or their camera, or their UI , etc... But if a nasty security bug gets patched, Google could blast it out to the world in a matter of days. And all those cheap phones that gather dust on top the 'Check For system update' screen won't be running grossly out of date stuff where it matters, like in the network stack or security packages.
I even see a path where Google could upgrade the core OS and allow OEMs to follow up when (if) they want.
Oh.... To dream.