This is missing half the story. Yes, things can be temporarily underpriced and then an appeal to scalpers makes sense, as scalpers can instantly raise the price to the market clearing rate. But at the same time they can instantly
lower the price to the market clearing rate.
What manufacturers and consumers both want is price stability. They want prices to change in regular intervals and in predictable amounts. Both producers and consumers, but much more producers than consumers, need to make long range plans which require stable pricing. So when the iPhone first came out there was huge demand. Why didn't Apple auction the phones off? Because Apple wanted to anchor expectations for what the phone would cost over the long term. They certainly did not want consumers thinking that if they waited the phone would become cheaper. Thus they did not want consumers to think the phone's price was subject to a daily auction. Instead, it's better for Apple to have occasional shortages than to let people think that iPhone pricing will be moving up and down a lot. That allows consumers to make long term plans as well.
So manufacturers want stable pricing, they want happy consumers, and they don't want surprises. Consumers want the same thing. That's why people hate scalpers. You can draw all the supply demand curves you want, but that doesn't change the fact that people need to make long range plans, and this requires stable pricing.