Do you think hardware IoT companies should eventually open source their hardware to solely focus on the software? (Based on the belief that if we can make it, there's always someone who can make it better for cheaper). How would we go about doing that in a way that does not greatly damage revenue streams?
The honest answer is that it depends. There is not a clear cut answer for this because it highly depends on the market, business model, value proposition, etc.
Development and production of hardware is fundamentally different than software. Thinking and making are separated much further in time and resources, and copy-paste simply doesn't work the same way.
The statement of open sourcing hardware and focusing solely on the software implies someone out there is magically going to make high-quality hardware for your software to run on. That's a thorny assumption.
Most IoT is more than just PCB's. There are also enclosures, actuators, and physical UI/UX. Relying on someone else to provide that much of the user-experience is a brittle proposition for a business.