After I saw the plan, I understand the problem even less. Who borders whom there and who has built up? To the "rear" towards A and B there is no problem because B does not belong to any private builder, so it is about the neighbor directly next door? That confuses me because this V-arrangement then plays no role at all, but you made an effort to describe it in words.
Height restrictions exist in the form of specifications for the number of floors in combination with ridge heights and the reference point of the average height of the adjacent traffic area. That is all quite clear. At no point do I see anything that would prevent the neighbor's buildup within this framework. For rules regarding buildups, you look at the neighborhood law of your federal state.
If anyone, for example for aesthetic reasons, intended to prohibit buildups, they failed to do so. Bad luck for those who find this unaesthetic and assumed it was regulated. Although, their own fault, the plan is from 2006, plenty of time to notice the absence of such a regulation.
In my opinion, the plan is not that complicated either. It may be complex due to the different areas and the associated individual regulations. Anyone building a house there can simply ignore a lot because it does not apply to their own area.