If you define innovate as invent something from scratch, then they did not innovate anything. Everything they've done has existed prior to them doing it. But under Steve they took those inventions and made them more usable and appealing to the common man.
That's their strength really. Make stuff easier and more enjoyable to use.
Unfortunately that has led to lock-in in order to hold onto customers. Yes, they give you convenience but you're bound to their products.
I first realised this when I had an Apple Watch and iPhone 7, then sold my iPhone and got an Android phone and the Watch became useless. Even though I had 3 Mac's and an iPad Pro, they couldn't work with Watch. You HAD to have an iPhone.
So I sold the Watch.
Then I paved over MacOS with Linux and I'm happy. Free to use whatever, whenever, however I want to, and added YEARS to the life of my mac's which both had come to the end of support of MacOS.
My 2015 MacBook Pro and 2012 Mac Mini would be useless now if I was running OSX/MacOS and many apps wouldn't be supported or even work. New apps definitely wouldn't be supported because Mac Devs love to drop support for older versions.
On Linux they run great! Fast, fluid, can run any latest app no problem. I think Linux has probably added at least 10 years into the life of these machines.