For a resolution to be passed at a meeting, it has to be sufficient clear on the agenda to both the public and the participants that the matter is to be discussed and voted upon at a meeting. This in itself is a problem because, as you say, a discussion can moved towards a particular conclusion/resolution that might, simply by the nature of the discussion, not be clearly specified on the agenda. One of the reasons that clerks ask for a form or more detail on a proposal is so that they can draft the agenda item in such a way to ensure it encompasses all possible options. It's not a precise science. I haven't got a solution to this other than to talk to your clerk about what you're hoping to achieve by your agenda item so the agenda can be worded accordingly.
In our council we do tend to do the talking bit in committees or working groups first which will discuss proposed projects and then make an agreed recommendation to full council. A bit more long winded I agree but gives an opportunity to iron out any concerns, identify sticking points or queries and ensures the final resolution is clear on the agenda for full council when the decision is made.