Ambiguous comes from the Latin ambi (both ways) and agere (to drive). A lot of my poetry is ambiguous in the sense that words and phrases have two different interpretations, both of which are intended. In a writer’s group, someone pointed out that a phrase had a third interpretation that I had missed. It wasn’t one I wanted, so I rewrote the section to get rid of it.
Someone who is ambidextrous has two “right” hands (both hands are dextrous), not they are unclear which is their right hand.