Is there a "Linux friendly" handset manufacturer for Android phones?
If you don't want to be tied to Windows-based Kies, Simply don't pick Samsung phones. Almost every other Android manufacturer's phones can be upgraded Over The Air without the need of an attached computer; for some reason Samsung's can't or won't do it.

Android was designed so it does not need to be attached to a computer as much as possible; Android was designed to sync data (address book, etc), installs software (market, etc), and do system updates over the air. Some manufacturer/carriers do not yet embrace this unfortunately, and is forcing your phone to be attached to a computer.