This is a myth. Jobs negotiated access to PARC technology as part of a deal in which Xerox bought shares in Apple at $10/share[0], selling about a year later at $22/share. Those shares would be worth around $5 billion today.
Xerox did later sue Apple for IP infringement, however most of their claims were dismissed[1].
Apologies, I was juggling multiple sources. The Xerox VC investment into Apple is a matter of public record, the figure of $10/share is widely quoted, including in the Walter Isaacson biography of Steve Jobs[0].
Exactly how and when Xerox disposed of its shares is not public record, but it's known to be around that timeframe and certainly Xerox made a profit. The book _Dealers of Lightning_ goes into more detail about the deal if you're interested[1].
This is how the industry innovates