Roadmaps come in many different flavors depending on the company/culture/processes/etc. For an org where roadmaps are more formal/solidified - a healthy level of "product discovery" should be happening before items are put on the product roadmap. We do it this way at my current company (am a Product Director, leading multiple Product teams). When items are put on the roadmap, scope may not be 100% final, but there is a relatively high level of certainty for what's in/out of scope based on customer & business value, as well as clear prioritization based on value/effort. And for larger scope/high priority items, they've already been aligned to a good extent across key stakeholders & partner product/engineering teams before formally being put on the roadmap.
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