Toyota own shares in Yamaha and vice versa. So they share some developments and costs.
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The shares are minimal. Something like 3%. They, like so many other companies in the world, share development, etc. because it makes financial sense. In many cases, there is no ownership "marriage" between the companies at all. They just agree to sell / buy an engine or gearbox, or whatever makes sense for a specific model as it makes more financial sense. There are some interesting examples of this.
- Borg Warner gearboxes in Mahindra 4x4s
- Mercedes engines in some Aston Martins
- Mazda BT50 used to be a Ford, now an Isuzu.