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Question
i really want to try new iOS features but i’m scared to get an "iphone 4s iOS 9" experience
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Always upgrade.
I haven’t noticed any major speed differences
iPadOS 15 to 16 was a big jump, 16 to 17 wasn't really as much at all. You're fine.
I've got an iPad Mini 5 running iPadOS 17 and it's not incredibly fast but I can do everything without really any problems. The only real stutters are if I open and close a lot of high intensity programs like games or open like 10+ safari tabs and then switch over to another app.
Since you’re already on iPadOS 16, you wouldn’t really experience much slowdown updating to 17 (because 16 already slowed it down anyway). I also use an iPad 6 and imo the best OS so far for this iPad has been iPadOS 15.