Yes, as you said, Teams guest cannot invite to the shared channel. For the outside organization users, you can allow your users to invite people from other organizations to use shared resources - such as shared channels in Teams - by default.
To allow users to invite B2B direct connect participants by default(Note that the organizations you collaborate with will also have to configure their B2B direct connect settings.)
- Sign in to Microsoft Entra ID using a Global Administrator or Security Administrator account.
- Expand External Identities, and then select Cross-tenant access settings.
- On the Default settings tab, under Inbound access settings, select Edit inbound defaults.
- Select the B2B direct connect tab.
- On the Users and groups tab, under Access status, choose Allow access.
- On the External applications tab, under Access status, choose Allow access.
- Select Save.
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