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This postmodifier is an adjective phrase headed by "based" .The whole part after "based" is an adjective complement which is in this case obligatory since the adjective "based" and the following preposition "on" form one lexical unit. Precisely,adjective and its complementing preposition are inseparable since you will automatically add "on" after saying "based" in such contexts.( I suppose you will  ).Of course, the bond between the adjective and its complement need not to be so strong and obligatory like it is in the case of "based on". So, "on the linguistic input" is an adjective complement by its function and a prepositional phrase by its form.
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Would it be the same thing, or at least plausible, to say:
"on the linguistic input" is an adverbial prepositional phrase modifying the adj. "based"
"based" is an adj. modifying the noun "grammar"
"grammar" is the noun object of the verbal (infinitive phrase) "to develop"
"to develop grammar" as the infinitive phrase acting as an object complement for "them"
"they receive" is an elliptical relative clause ("that they receive") that modifies "input"?
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And of course it is true that : "There are verbs like "points to", etc. that seem to require a preposition after them to make sense" , exactly like this previous case with adjective "based on". As well as adjectives,verbs sometimes form a lexical unit (= logical unit) with its following preposition and they are then called "prepositional verbs". And yes,they are special,since the preposition (unless stranded) of this verbs is always followed by the prepositional object .
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This is helpful and I will research prepositional verbs further.
Thank you,
Donna