I guarantee engineers love working for you because of this. If you look at Maslow's hierarchy of needs you are filling that esteem portion that is really lacking for a lot of software engineering teams in the wild.
A lot of it isn't a complex secret, it's really doing what you pointed out - make people feel appreciated, listened to, and actually part of the company as a whole as opposed to just a resource. This can be as simple as being more transparent as to why a feature has been requested, even if it's counter-intuitive to reason, or giving context as to where the roadmap is heading so that they're aware on why they're working on something.
As an engineer I've always found that knowing why, knowing that there is a real customer out there who really wants what I'm making is very motivating.
So often people just come to me because their boss told them to go get engineering to make this thing. They don't know why, and sadly, their boss doesn't know why either as it was just passed to them from an executive mandate. And there is lots of pressure to get to done ASAP!
I believe this is why some of the best Product Owners I've worked with have some understanding of the technical side so that they can push back at the point of feature request rather than accept everything to please business/the client and lay it at the feet of engineers a few weeks down the line.
For this reason, I think the engineering manager/technical product owner type of role should start becoming a bit more common especially in startups, where I've seen first hand, POs brought in who subsequently drive products into the ground that were initially engineering led (and which raised the investment in the first place).