Using DAVx⁵ to sync contacts on Android via CardDAV can be configured in a way that allows seamless group creation and editing on both Android and iOS.

Contact groups on Android Contact groups on iOS

When setting up DAVx⁵ with Nextcloud, its documentation recommends selecting Groups are per-contact categories as the Contact group method. This is because the Nextcloud Contacts app only supports this option. However, if compatibility with the Nextcloud Contacts app is not a priority, you can instead choose Groups are separate vCards This method aligns with how iOS syncs contact groups over a CardDAV account.

Contact group method on DAVx⁵

With this configuration, any changes to group memberships or group creation/modification will now sync seamlessly between Android and iOS.