What you described doesn't really sound like poaching, but I think this is normal and it is pretty much how I built my career into the direction I wanted. When

What you described doesn't really sound like poaching, but I think this is normal and it is pretty much how I built my career into the direction I wanted. When I was a build engineer and wanted to do more tools work, I picked up tool tasks and got put onto the next project as a tools engineer. Later when I grew interested in doing more engine work, I picked up tasks that were related to our central engine tech, worked to minimize divergence, and fixed issues in a way that would get integrated back to the engine. Eventually I officially transferred to the engine team. In my experience "just doing it" is a very effective way to shift into the kinds of roles you're most interested in.