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Genesi did start a lawsuit and won it against Amiga Inc. who claimed MorphOS violated their IP. Genesi won. Would Genesi have done this for MorphOS if they were not worried about it?
The lawsuit was about a contractually promised port of a piece of software called "Amiga Anywhere" (previously known as AmigaDE) to the Pegasos platform and had legally nothing to do with MorphOS whatsoever.