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The FW IA books were made to give rules for all the cool vehicles FW produced.
The IA updates were made to bring older units from the first book in line with newer rules and to give rules for vehicles that did not get rules yet. For example updates to IG tanks, but also introducing Eldar vehicles.
The IA books also introduced variant army lists. For example, the Krieg, Eleysian and Vraks lists. Most of the books have atleast one alternate list... IA:2 being the only one I can think of without an alternate.
The first IA book came out almost a decade ago so obviously some things have changed. With significant changes in 5th edition 40K, FW has set about reworking the oldest books and providing updates for free via their website. For example, I believe there is a new Krieg list more in line with the current IG codex.
While FW is a division of GW, the designers do not seem to work together. You'll find glaring differences between the same codex unit (GW) and IA (FW) unit. For example, FW produced the Valkyrie model first and gave it rules in IA:1. GW FINALLY put it into the IG codex, where it's a fast skimmer because there are no rules for flyers in 40K. There's probably a point difference as well.
In reference to Tau, FW did the seeker missile ship first, then it was put into the latest (still old) Tau book. FW also has models and rules for alternate Hammer Heads and the good ole Tetra speeder.
Opinions vary on the "legality" of using FW models. My personal opinion? Your dime and time, play with whatever you want against me. You'll get bored of it after a while if it's that overpowering, but everyone doesn't agree. Please note, there are instances of some FW vehicles being undercosted, but the vast majority are more points then they're actually worth.
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