I finally built up the bottle to upgrade my N95. Last time I tried this it killed the phone and I ended up with a rather expensive brick, which, fortunately Nokia replaced.
This time I wanted to upgrade the phone to get the Assisted-GPS feature. The phone's GPS has been a huge disappointment - I don't think many people would consider an average time of 10min to get a GPS lock to be acceptable.
To get the firmware upgrade I had to use some software to rebrand the phone as a generic since Orange can't get their asses into gear to release the software. I was bricking it hoping the phone would not do the same as changing the code invalidates the warranty. Well Orange can kiss my Scottish ass because it worked!
I now have A-GPS, and I got a lock in my flat in less that 1min. Result!
I also have access to the previews for the new N-Gage games which look like they will be quite cool.
Ref: I used this guide and this guide to update my phone.
I also rather like the look of this iPhone like software.