Have they figured it out yet? I have not found an Android phone yet to ignore unintentional touches.
Side touches ARE minimized (remember the Note 5's big touch patch?), but touchscreens are touchscreens.
The side bezels on the iPhone are slightly wider than the Note.I did a test with my iPhone 6S and my Note 5. I did the exact same gestures on the Note and with the 6S and found the 6S to ignore the touch when the Note would register the touch causing an unwanted action. There is something Apple is doing to prevent unwanted touches. It makes a huge difference in the experience, I just wish Android would figure it out.
I'll give you an example, on the Note I can grab the phone and my palm will select an icon and actually drag it to another screen. I literally can just pick up the phone with the screen on and select something. I can not replicate this on the iPhone. There definitely is something deliberate Apple is doing to prevent this type of unintended touch.