Setup Menus to open in a specific company 2023.2

Is there anyway to setup under menu maintenance which company that the application should open for.

Example: we have two companies one A another B. Some people need access to both companies. If they go into the A menu I want it to launch in A company and if they are in the B menu I want it to launch in the B company. I know you can do this in favorites and choose a company but I do not want the menus for both company A and B on both companies unless it is directed towards that company. The issue is if they do not have access to the entire path of the application then they will no longer have access to the application.

Thanks!