I think the best way for quality teams to work with R&D teams would be to have both teams syncing up with each other on a consistent basis, so that they can discuss and resolve any difficulties, misunderstanding, or confusions between teams. Involving team members from different teams in other meetings or calls can help keep all teams in loop with each other so everyone knows whats going on. Members of the quality team can better ensure that other departments are under compliance and let them know right away of any violations etc the more integrated the other between all other cross-functional teams.