The latest update for HQ includes an API enhancement; you can get a list of companies that are related to a specific project. The documentation is found here:
GET projects/:project_id/companies
In UI, you can find corresponding information under Project icon >> {a_given_project} >> Companies tab (see the image below).
I just gave it a try. Nothing complex. But thought keeping some snapshots (while I have it at hand) might help understand what this functionality is about more easily.
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