This focuses on what managers should do differently, but not what engineers could do differently to make the relationship better. Improve their communication skills, document and evangelize their work, etc.
When I have a poor manager who doesn’t improve quickly, what I do differently is get a different job. I understand that’s a privileged position to be in, and also that one needs to have a fair bit of experience to identify whether the manager really is the issue. Nevertheless, trying to fix a relationship one-sidedly when someone holds authority over you is not a worthwhile cause.