Indeed, it's called 'on-the-wire'. When a network card goes out on the wire, it will broadcast for a DHCP server - anyone will do. It's not a question of domain specific and having more than 1 DHCP server on the wire will cause all sorts of problems - guranteed!
You will need to separate them out physically using either a switch to block a network broadcast traveling across to your sister company's DHCP server, or having two network cards in each of your servers so that only they can talk to each other.