Re: Good hardware... but
Completely agree! I rooted my S4 and put Cyanogenmod on it, I got sick of all the mandatory installed cr*pware and Kies (the syncing software) is an abomination.
As you say they are great at hardware. I've had two Samsung TVs, one which lasted me 15 years and one which is about 6-7 years old and going strong. However, my Samsung "Smart" blu ray is absolutely horrendous to use due to terrible software.
If they kept focused on making meaningful hardware improvements with each model and made it run as close to stock Android as possible I think they would see bigger sales in future.