Google has officially announced via Twitter, that they have already started rolling out the Android 4.0.4 Ice Cream Sandwich update to the Samsung Galaxy Nexus and the Samsung Nexus S. Android 4.0.4 brings in overall stability of the platform, camera improvements, smoother camera rotation, better phone number recognition, and more. Sammy Hub reports that the update is only for the GSM variants of the devices. So for the CDMA-based Galaxy Nexus and Nexus S, a bit more waiting is required. Pretty sure though, it will come.
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