Fees: both houses are really good, and far cheaper than they used to be.
*Treasurys trade for free at both.
*Both offer free trades of their in-house funds and ETFs. At fidelity, that also includes iShares.
Stock trading depends on how much money you keep at Vanguard (free at the highest level) and is a flat $4.95 per transaction at Fidelity. Very recently it was 6.95 and 8.95.
The expense ratios of index funds are always decreasing, but they’re both really close. For the broad market, practically zero. I mean, F’s was 0.04% when V’s was still 0.03%. So you’d save $100 on every million.

Change in philosophy: I don’t know if Jack Bogle contradicted himself, but he hadn’t been at the helm of Vanguard for a long time by the time he passed away. And V had definitely moved in a different direction. Example: international bonds in the target retirement funds. Another example: the infatuation with ETFs. (By the way, didn’t pug or kbg write something about the structure of ETFs and why he held them instead of funds at fidelity?)
The main change with Bogle is that he was holding stocks and bonds with a 50/50 ratio and not ‘age in bonds.’ When you have that much money, does it really matter? But, other than that I don’t think he really strayed. Of course, Vanguard has pressure to change with the times. People want ETFs.
That beneficiary thing, though- terrible. No excuse for it. I’m grateful that you had alerted us to it.