I’d say ”mitä sinä haluat minulta” is used when you really want to get something from someone. Esim. Minä haluan sinulta huomiota/tukea/rahaa (although it’s weird to say I want money from you).
”Mitä sinä haluat minusta” is more like ”what do you want me to be”. You could ask this from a person youve been dating to get to know what this person wants from the relationship. You could compare this to the Finnish way of saying ”become”, ”Minusta tulee isona poliisi”, ”lapsesta aikuiseksi”.
Also I could imagine a character played by Tom Cruise in a film being followed by a shady person, then he turns around, grabs the person and asks ”mitä sinä haluat minusta?”. In this case it’s not clear if the person wants to receive something from the character. If the person wanted information he could say ”Haluan sinulta tietoja” even though the question used minuSTA.
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