This seems like making a mountain out of a molehill.

To get an ICLA all legit while you are employed, run it by the legal department of the company you are employed by, and they can give you an idea if any changes to the agreement is needed (and of course, if you are allowed to spend company or private time on the project), and get it signed legally and on file for all parties involved. Done.

Many of the issues outlined here can be resolved by properly communicating all the concerns before signing a legal document (which is recommended practice).

It seems like ESR is treating these contributor agreements as static one-way agreements rather than things that can be changed as needed.