SHIELD has zero interest in Wilson Fisk or Kilgrave and I doubt that they would be interested in Black Mariah and Cottonmouth, so I don't know a crossover with the Netflix heroes would work without it being forced.
If they want the crossovers to happen, it has to come naturally. Look for example at what NBC does with The Chicago Trilogy of Chicago Fire, Chicago PD and now Chicago Med. Those characters cross over onto each other's shows all of the time and it seems very flawless and natural. This is what has to happen between Agents of SHIELD and the Netflix shows.
Right now, I don't see how a crossover happens without it being forced.