Don't fix other people problems. If idempotent key was seen then send back response. Clients intention is outside the scope. If contract says "idempotency on key" the idempotent response on key. If contract says "idempotent on body hash" then response on body hash (which might or might not include extra data). APIs are contracts. Not the pinky promise of "I'll do my best guess"
I would rather do more work myself to make an API as fool proof as possible, than hope everyone else is perfect, and lose data when they're not.
The robustness principle has its times and places but the general consensus that it should be applied everywhere to everything was a big mistake. The default should be that you are very rigid and precise and only apply the robustness principle in those times and places it applies, and I'm perfectly comfortable waiting to deploy something precise and find out that this was one of them. The vast majority of APIs is not the time and place for the robustness principle. It's the time and place for careful precision on exactly what is provided, and detailed and description error messages, logging, and metrics for when the boundaries are transgressed.