Hi Joshua,
The way to go about doing this would be to use the lookup single row action.
In this situation, as long as all of the rows in each of the tables you mentioned have the correct HS ID present in them, its similar to VLOOKUP functionality, where you look for the HS ID in a separate table, and return all the data in the row where that HS ID is a match.
Essentially you would need something along the lines of:
In your Company import table: The Company HS ID