It's hard to give generic advice not knowing more about the context but here's one way that I've found useful and successfully executed. Bucket your roadmap into 3 rough buckets - delight features (no one has specifically asked for but that deliver high value), customer requests (obvious), and your/company's product vision (not something you just concocted but based on real data and validation).
The % of your roadmap and sprint allocated to each bucket depends on your specific business, current situation, and startup/product stage.
Don't let customers hijack your roadmap. Talk to them, listen to their needs, understand the requirements coming from the business team, evaluate the severity and sensitivity, and ultimately prioritize yourself. There are times (sprints/months) where > 60% of my roadmap has been customer-driven and times when only a third of it are customer requests.