We have been fighting with ours for ~8 years now. The terms keep getting worse. I think all told, and if I were to repeat it, I would certainly scrap the IP I made in those early days and start fresh when starting the company. Like they mention in the article, chances are you'll pivot a number of times anyway, making the IP largely irrelevant, but you'll still have given up significant equity for it, and likely have a difficult shareholder onboard for life.

(edit: at least this is my anecdotal evidence, and what I gather from some other people having interacted with my particular tech transfer office...)