What is the plan's computation period for the safe harbor match? Plan year, pay period, month, quarter, etc.? If it is annually, then a true-up contribution would be needed from Company B for the $4,000 since the employee contributed more than 4% of their total plan compensation of $130,000. If it is per pay period, there would be no match as there were no employee deferrals made at Company B. If per month or quarter, there may be a true-up needed if the wages for both companies were paid in the same month or quarter.
You may also need to consider if Company A is paying more match than they should if the calculation is based upon pay period, month, or quarter, and they did not contribute equally during each pay from Company A. For instance, if contributing 100% of wages up until they hit the maximum allowed during the year, then they may have had no contribution in the last couple pay periods at Company A as they would have been over the annual threshold of $19,500 in 2021 ($26,000 if they qualify for catch-up contributions).