Android
DROID DOES
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Proprietary drivers/firmware. Basically makes it impossible/very hard to develop custom ROMs/operating systems (the lack of openness makes it super hard to extend/modify/verify the software running on these chips).
The drivers are well separated via HAL so you can absolutely make custom ROMs/OSes without changing those. The Android OS has way more code above the HAL layer than below. You can't however arbitrarily update the Linux kernel, modify the drivers or fix security issues found, beyond the security support window provided by Qualcomm.
So you can't make free software OSes.