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Here is the Query. Highlighted content will have to be changed for your case.
<?php
$my_query = new WP_Query( array(
'post_type' => 'company',
'tax_query' => array(
array(
'taxonomy' => 'service',
'field' => 'slug',
'terms' => get_query_var( 'service' ),
),
),
'paged' => get_query_var('paged', 1),
) ); ?>Also refer: Query Anything On WordPress Anywhere
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