What exactly is relationship between Pipo Moteurs' V8 and Genesis' V8? If theres any?

As far as I know Hyundai's WRC engines were in-house since 2017 and the contract between Pipo and Hyundai were over by then.

I've been reading a lot that Pipo's V8 that was used for Glickenhaus is the same engine as Genesis's V8 and its kinda making me confused cause there are some differences on spec sheet.

What I'm guessing is

1) Since 2017 Hyundai have been making alterations to the WRC engine that Pipo made before 2016

2) Pipo made the V8 based on their version of the WRC engine in 2021

3) Hyundai was "inspired" by this and used their version of WRC engine to make the V8 in 2024...?