If you are tried to sync company B to same Azure AD tenant where company A is syncing objects, then you need to have a trust between company A and Company B.
As per the above error it seems like AD connect is trying to write something back to company B for particular object, and there are no proper permissions set for AD connect connector account on the company B object.
There is some attribute which is trying to get written back to company B on-premises AD which might failing due to lack of permissions for AD connector account.
you can refer below article to get all the permission in place in company B AD connect connector account
https://learn.microsoft.com/en-us/azure/active-directory/hybrid/reference-connect-accounts-permissions#create-the-ad-ds-connector-account
Do let me know if you have any further questions.
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