Yes, but they're architectural decisions made at Bell Labs in the 70s. iOS was always designed with the assumption that no one is trustworthy[0], not even the owner of the device. So there is a huge mismatch between "70s timesharing OS" and "phone that doesn't believe you when you say 'please run this code'" That being said, most of these security features are not duct-tape over UNIXisms that don't fit Apple's walled garden nonsense. To be clear, iOS has the duct-tape, too, but all that lives in XNU (the normal OS kernel).
SPTM exists to fix a more fundamental problem with OS security: who watches the watchers? Regular processes have their memory accesses constrained by the kernel, but what keeps the kernel from unconstraining itself? The answer is to take the part of the kernel responsible for memory management out of the kernel and put it in some other, higher layer of privilege.
SPRR and GLs are hardware features that exist solely to support SPTM. If you didn't have those, you'd probably need to use ARM EL2 (hypervisor) or EL3 (TrustZone secure monitor / firmware), and also put code signing in the same privilege ring as memory access. You might recognize that as the design of the Xbox 360 hypervisor, which used PowerPC's virtualization capability to get a higher level of privilege than kernel-mode code.
If you want a relatively modern OS that is built to lock out the user from the ground-up, I'd point you to the Nintendo 3DS[1], whose OS (if not the whole system) was codenamed "Horizon". Horizon had a microkernel design where a good chunk of the system was moved to (semi-privileged) user-mode daemons (aka "services"). The Horizon kernel only does three things: time slicing, page table management, and IPC. Even security sensitive stuff like process creation and code signing is handled by services, not the kernel. System permissions are determined by what services you can communicate with, as enforced by an IPC broker that decides whether or not you get certain service ports.
The design of Horizon would have been difficult to crack, if it wasn't for Nintendo making some really bad implementation decisions that made it harder for them to patch bugs. Notably, you could GPU DMA onto the Home Menu's text section and run code that way, and it took Nintendo years to actually move the Home Menu out of the way of GPU DMA. They also attempted to resecure the system with a new bootloader that actually compromised boot chain security and let us run custom FIRMs (e.g. GodMode9) instead of just attacking the application processor kernel. But the underlying idea - separate out the security-relevant stuff from the rest of the system - is really solid, which is why Nintendo is still using the Horizon design (though probably not the implementation) all the way up to the Switch 2.
[0] In practice, Apple has to be trustworthy. Because if you can't trust the person writing the code, why run it?
[1] https://www.reddit.com/r/3dshacks/comments/6iclr8/a_technica...