Using AD Connect to synchronize users from On-premise to Azure AD instance would be the first step. You can synchronize users from two different forests to a single instance of Azure AD. You just need to ensure the AD Connect server can talk to both the DC's
Check the following article for the prerequisites: https://learn.microsoft.com/en-us/azure/active-directory/hybrid/plan-connect-topologies#multiple-forests-single-azure-ad-tenant
Once you have the users from two orgs synchronizing to Azure AD, then you can manage them from a single instance and plan your mailbox migration accordingly.