See, the problem is that you can't do this -- iTunes will not let you export a playlist that is on an iPod.
Umm, don't clip Bob out of the family album just yet <g> On my manually managed 2G iPod touch running iOS 3.1.3 and a Mac running iTunes 9.2.1, this works just fine. The exported iPod playlist has no file associations, so these normal iTunes playlist keys are missing from the exported iPod playlist: File Type, Location, File Folder Count, and Library Folder Count. Other than those four, all the other normal metadata is there.
Here's the real kicker -- the exported iPod tracks do not have to have the same Persistent ID as the tracks in the importing iTunes library! Apparently iTunes can locate the exported iPod track in an iTunes library solely on the sensible-to-humans metadata -- track name, artist, album, file kind, etc. -- without needing a Persistent ID match. For instance, I loaded a file into a dummy iTunes library in a test user account, and then loaded that file onto the iPod; then I exported that track in an iPod playlist. Then I switched to one of my normal user accounts (and a normal iTunes library) and also loaded the file into that library -- the two libraries assigned different Persistent IDs to the track, and each library had its own copy of the file. When the exported iPod playlist was imported into the normal iTunes library, everything went fine, despite the exported playlist's use of a different Persistent ID for that track. So...wow!
(And yes -- I took the next logical step and imported the iPod playlist into another iTunes library that did not have that file. As you would expect, the import failed since iTunes couldn't the file.)
So, as long as your iPod tracks are in an iTunes library (and some/all sensible-to-humans metadata is the same), an iPod playlist will import swimmingly. I guess the next step is to determine precisely which bits of metadata have to match, but I'm weary now....
Though I do agree with you -- 3rd party sw is still needed....to pull files off a non-HD iPod. But for the needs of the years-ago OP -- restoring an iPod's static playlist-but-not-its-files to an iTunes library -- lombaddddd's advice works...provided the files represented by those tracks exist in the destination iTunes library.