Transformers used one of the Valkyrie toys as like Starscream or someone early on.

Jetfire, who was named "Skyfire" in the cartoon and given a moderate re-design (and stopped appearing soon after the first season), because the toy design was licensed from Bandai, and Hasbro/Takara didn't want to include what was basically free advertisement for their competitors' design.

Battletech did snag the Valkyrie robots from Macross at some point (though I'm not too knowledgeable about that franchise)

A company called Harmony Gold owns the American broadcast rights to Macross, and has been infamously litigious about defending their IP, despite not using it much. It's a hell of a story, which continues to this day I think.