Karen updated her 4S and iPad gen 3 wth no issues. I did my 5 and mini with no issues.
The overall interface is fine. A bit different with improved (to me more intuitive) motion commands. I didn't realize it until Karen mentioned it but for all out devices we seem to be in and out of apps much faster.
There are a couple apps that need to be updated due to some bugginess...namely the Chive

but in time it will be fine.
Overall worth doing the upgrade and still happy IOS users.
And FWIW.... I still like my S3 for work but it is starting to get really slow and the battery life has gone to crap. My iPhone has not :P