Tie their compensation to the product's financial success.
This means, to the greatest extent possible, everything relevant to the product's success must be owned by the team and become their responsibility. Maybe there are some cross cutting concerns that should be the responsibility of a group separate from any product team, but those should be rare and require a strong justification.
This will have an amazing effect of clarifying prioritization of what to work on and figuring out how to deliver it as quickly and reliably as possible. Suddenly the whole team will be in the loop about what features are most important to the customers. Suddenly the things blocking new features demanded by the customers from shipping will be cleared away.
I think for any other metric you can devise, either intentionally or unintentionally, employee behavior will be optimized for satisfying the metric, and not customer satisfaction with the product.