For software teams practicing Agile, I recommend “Agile Excellence for Product Managers: A Guide to Creating Winning Products with Agile Development Teams” by Greg Cohen. Unlike most other Agile writings, which are very development-centric, this book takes a holistic view of how four separate constituencies (product managers, UX designers, developers, software quality assurance engineers) must work together to build a great software product.
If you don't want to read the full book you can also get a taste of how agile can be applied to early startup teams and/or hardware teams learning to add software components by reading Elaine's primer on the agile development process here.
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