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I would think that everyone (besides Musk) in the two companies would prefer clean lines of origination and transition for IP between the two companies. This means there would be a typical contract between two companies: Company B licenses for a fee the tech from Company A; or Company B acquires for a price the tech from Company A; or, as I saw at my previous startup employer, some kind of partnering arrangement to further develop, together, Company A's tech. I have no idea how it's decided which company owns what in the case of additional development between both companies.

The point is: they agree on a contract that hopefully keeps ownership well delineated in the event of an ownership change, or outside lawsuit, or ... whatever legal event may come up.

Would it be ok for the companies to agree to license (non-exclusive perpetual bla bla) all technology free of cost? Would that be legal?

Most certainly legal. If certain investors don't like it, they can try to change it or maybe sue the company over the decision, but there's nothing about a "non-exclusive, royalty-free, perpetual" license that has questionable legality.

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