But, in a Trigger's Broom sort of way, it's barely the same Sega from before! Do the people who irked Camelot to begin with still even work at Sega? Why pass grudges over if it's bad for business?
Other than that, if Sega still own the rights to Shining Force and Camelot own the original source codes... can't Sega just recreate the source codes? Whenever decompiling copies of the games or the fact it's the twenties and can just make an accurate recreation of modern programming. Sure it'll piss off Camelot more, but can't be any less pissed off at this point if neither of the sides want to make amends.
It's as I said before, Sega should properly "get their shit together" when it comes to their own IPs. Whenever it be for Sega All-Star games and crossovers, or just to have less legal disputes like this.
Meanwhile, Smash Bros games has nine Fire Emblem characters because "why not?". Nintendo ain't disputing with Intelligent Systems because Nintendo keeps their shit together with their IPs to make crossovers and marketing with them easy.
Well, actually just like SEGA, Nintendo also has a history of having disputes with their second party companies.
The most notable one is with RARE with whom they enjoyed a highly successful partnership (Donkey Kong Country, GoldenEye 007, Banjo-Kazooie).
Eventhough Nintendo owned 49% of Rare in the 1990s, they didn't get along well in end of N64 era which's making a way for Microsoft to acquire RARE in 2002.

Second one was with Argonaut Games, which co-developed Star Fox on SNES, they had a strained relationship during the N64 era.
Nintendo famously rejected several of their prototypes, including a Yoshi Racing game and the fully completed Star Fox 2 (which was shelved for years), which caused friction.

There was also with DMA Design (now Rockstar North) which ironically was part of Nintendo's "Dream Team" during the N64 era.
Nintendo meddled heavily in the development of Body Harvest, giving confusing design demands before ultimately dropping the publishing deal, leaving the studio frustrated.

Lastly there's also Sucker Punch Productions (now a first-party Sony studio) which pitched Rocket: Robot on Wheels to Nintendo, but were forced to create a prototype without a development kit, only to have the project handled in a confusing manner, driving them away from future Nintendo partnerships.

As you can see, all of these were during N64 era.
After that (Game Cube, Wii, 3DS, Wii U, and Switch era) Nintendo seems doing fine with their second party companies.
I guess they did learn the lesson and treated their their second party companies better now, which Camelot's being one of them.