I have managed project delivery for first-to-market products where part of the scope was soliciting feature requests and feedback from the customer and then making it happen. It has raised discussions on who owns the IP in the end. With a need to have that clearly established up front in the contract or commercial agreement.
Yet one of the tenets of the Agile Manifesto is “Customer collaboration over contract negotiation”.
I do believe this can be a good example of the greyness in the final statement “That is, while there is value in the items on the right, we value the items on the left more.” That you do need to address the issue of who owns what at some point and get that in writing.