diff --git a/addons/point_of_sale/models/pos_order.py b/addons/point_of_sale/models/pos_order.py
index 2765edfb8e1..c7e4f140dc2 100644
--- a/addons/point_of_sale/models/pos_order.py
+++ b/addons/point_of_sale/models/pos_order.py
@@ -536,8 +536,10 @@ class PosOrder(models.Model):
     def _default_pricelist(self):
         return self._default_session().config_id.pricelist_id
 
+    def _default_company_id(self):
+        return self._default_session().config_id.company_id
+
     name = fields.Char(string='Order Ref', required=True, readonly=True, copy=False, default='/')
-    company_id = fields.Many2one('res.company', string='Company', required=True, readonly=True, default=lambda self: self.env.company)
     date_order = fields.Datetime(string='Order Date', readonly=True, index=True, default=fields.Datetime.now)
     user_id = fields.Many2one(
         comodel_name='res.users', string='User',
@@ -552,6 +554,8 @@ class PosOrder(models.Model):
     amount_return = fields.Float(string='Returned', digits=0, required=True, readonly=True)
     lines = fields.One2many('pos.order.line', 'order_id', string='Order Lines', states={'draft': [('readonly', False)]}, readonly=True, copy=True)
     statement_ids = fields.One2many('account.bank.statement.line', 'pos_statement_id', string='Payments', states={'draft': [('readonly', False)]}, readonly=True)
+    company_id = fields.Many2one('res.company', string='Company', required=True, readonly=True,
+                                    default=lambda self: self._default_company_id())
     pricelist_id = fields.Many2one('product.pricelist', string='Pricelist', required=True, states={
                                    'draft': [('readonly', False)]}, readonly=True, default=_default_pricelist)
     partner_id = fields.Many2one('res.partner', string='Customer', change_default=True, index=True, states={'draft': [('readonly', False)], 'paid': [('readonly', False)]})
@@ -1048,7 +1052,7 @@ class PosOrderLine(models.Model):
             line[2]['tax_ids'] = [(6, 0, [x.id for x in product.taxes_id])]
         return line
 
-    company_id = fields.Many2one('res.company', string='Company', required=True, default=lambda self: self.env.company)
+    company_id = fields.Many2one('res.company', string='Company', related="order_id.company_id", store=True)
     name = fields.Char(string='Line No', required=True, copy=False)
     notice = fields.Char(string='Discount Notice')
     product_id = fields.Many2one('product.product', string='Product', domain=[('sale_ok', '=', True)], required=True, change_default=True)
@@ -1059,7 +1063,7 @@ class PosOrderLine(models.Model):
     price_subtotal_incl = fields.Float(string='Subtotal', digits=0,
         readonly=True, required=True)
     discount = fields.Float(string='Discount (%)', digits=0, default=0.0)
-    order_id = fields.Many2one('pos.order', string='Order Ref', ondelete='cascade')
+    order_id = fields.Many2one('pos.order', string='Order Ref', ondelete='cascade', required=True)
     tax_ids = fields.Many2many('account.tax', string='Taxes', readonly=True)
     tax_ids_after_fiscal_position = fields.Many2many('account.tax', compute='_get_tax_ids_after_fiscal_position', string='Taxes to Apply')
     pack_lot_ids = fields.One2many('pos.pack.operation.lot', 'pos_order_line_id', string='Lot/serial Number')
diff --git a/addons/point_of_sale/models/pos_session.py b/addons/point_of_sale/models/pos_session.py
index a71905409e0..a101a6da380 100644
--- a/addons/point_of_sale/models/pos_session.py
+++ b/addons/point_of_sale/models/pos_session.py
@@ -40,6 +40,8 @@ class PosSession(models.Model):
             orders_to_reconcile = session.order_ids._filtered_for_reconciliation()
             orders_to_reconcile.sudo()._reconcile_payments()
 
+    company_id = fields.Many2one('res.company', related='config_id.company_id', string="Company", readonly=True)
+    
     config_id = fields.Many2one(
         'pos.config', string='Point of Sale',
         help="The physical point of sale you will use.",
diff --git a/addons/point_of_sale/static/src/js/models.js b/addons/point_of_sale/static/src/js/models.js
index 5cf80e1e64d..a594820e031 100644
--- a/addons/point_of_sale/static/src/js/models.js
+++ b/addons/point_of_sale/static/src/js/models.js
@@ -263,10 +263,6 @@ exports.PosModel = Backbone.Model.extend({
                                     self.config.iface_cashdrawer       ||
                                     self.config.iface_customer_facing_display;
 
-            if (self.config.company_id[0] !== self.user.company_id[0]) {
-                throw new Error(_t("Error: The Point of Sale User must belong to the same company as the Point of Sale. You are probably trying to load the point of sale as an administrator in a multi-company setup, with the administrator account set to the wrong company."));
-            }
-
             self.db.set_uuid(self.config.uuid);
             self.set_cashier(self.get_cashier());
             // We need to do it here, since only then the local storage has the correct uuid
@@ -345,7 +341,7 @@ exports.PosModel = Backbone.Model.extend({
                  'product_tmpl_id','tracking'],
         order:  _.map(['sequence','default_code','name'], function (name) { return {name: name}; }),
         domain: function(self){
-            var domain = [['sale_ok','=',true],['available_in_pos','=',true]];
+            var domain = [['sale_ok','=',true],['available_in_pos','=',true],'|',['company_id','=',self.config.company_id[0]],['company_id','=',false]];
             if (self.config.limit_categories &&  self.config.iface_available_categ_ids.length) {
                 domain.push(['pos_categ_id', 'in', self.config.iface_available_categ_ids]);
             }
diff --git a/addons/point_of_sale/views/pos_config_view.xml b/addons/point_of_sale/views/pos_config_view.xml
index 8ccac51c746..cd812498780 100644
--- a/addons/point_of_sale/views/pos_config_view.xml
+++ b/addons/point_of_sale/views/pos_config_view.xml
@@ -45,7 +45,7 @@
                         <div id="company" class="col-12 col-lg-6 o_setting_box" groups="base.group_multi_company">
                             <div class="o_setting_right_pane">
                                 <label for="company_id"/>
-                                <div><field name="company_id"/></div>
+                                <div><field name="company_id" readonly="1"/></div>
                             </div>
                         </div>
                     </div>
@@ -211,7 +211,7 @@
                     <div class="row mt16 o_settings_container">
                         <div class="col-12 col-lg-6 o_setting_box" title="Choose a specific fiscal position at the order depending on the kind of customer (tax exempt, onsite vs. takeaway, etc.).">
                             <div class="o_setting_left_pane">
-                                <field name="tax_regime_selection"/>
+                                <field name="tax_regime_selection" domain="['|',('company_id', '=', company_id),('company_id', '=', False)]"/>
                             </div>
                             <div class="o_setting_right_pane">
                                 <label for="tax_regime_selection" string="Fiscal Position per Order"/>
@@ -220,7 +220,7 @@
                                 </div>
                                 <div class="content-group" attrs="{'invisible': [('tax_regime_selection', '=', False)]}">
                                     <div class="mt16">
-                                        <field name="fiscal_position_ids" widget="many2many_tags" options="{'no_create': True}"/>
+                                        <field name="fiscal_position_ids" widget="many2many_tags" options="{'no_create': True}" domain="['|',('company_id', '=', company_id),('company_id', '=', False)]"/>
                                     </div>
                                     <div>
                                         <button name="%(account.action_account_fiscal_position_form)d" icon="fa-arrow-right" type="action" string="Fiscal Positions" class="btn-link"/>
@@ -239,7 +239,7 @@
                                 </div>
                                 <div class="content-group" attrs="{'invisible': [('tax_regime', '=', False)]}">
                                     <div class="mt16">
-                                        <field name="default_fiscal_position_id" attrs="{'required': [('tax_regime', '=', True)]}"/>
+                                        <field name="default_fiscal_position_id" attrs="{'required': [('tax_regime', '=', True)]}" domain="['|',('company_id', '=', company_id),('company_id', '=', False)]"/>
                                     </div>
                                 </div>
                             </div>
@@ -247,19 +247,19 @@
                     </div>
                     <h2>Pricing</h2>
                     <div class="row mt16 o_settings_container" id="pricing">
-                        <div class="col-xs-12 col-lg-6 o_setting_box" id="product_prices"> 
-                            <div class="o_setting_right_pane"> 
-                                <label for="iface_tax_included" string="Product Prices"/>  
-                                <div class="text-muted">   
-                                    Product prices on receipts 
-                                </div> 
-                                <div class="content-group">    
-                                    <div class="mt16"> 
-                                        <field name="iface_tax_included" class="o_light_label" widget="radio"/>    
-                                    </div> 
+                        <div class="col-xs-12 col-lg-6 o_setting_box" id="product_prices">
+                            <div class="o_setting_right_pane">
+                                <label for="iface_tax_included" string="Product Prices"/>
+                                <div class="text-muted">
+                                    Product prices on receipts
+                                </div>
+                                <div class="content-group">
+                                    <div class="mt16">
+                                        <field name="iface_tax_included" class="o_light_label" widget="radio"/>
+                                    </div>
                                     <a attrs="{'invisible': [('iface_tax_included', '!=', 'total')]}" href="https://www.odoo.com/documentation/user/12.0/accounting/others/taxes/tax_included.html"  target="_blank" class="oe-link"><i class="fa fa-fw fa-arrow-right"/>How to manage tax-included prices</a>
-                                </div> 
-                            </div> 
+                                </div>
+                            </div>
                         </div>
                         <div class="col-xs-12 col-lg-6 o_setting_box" >
                             <div class="o_setting_left_pane">
@@ -289,7 +289,7 @@
                                 <div class="content-group mt16" attrs="{'invisible': [('use_pricelist','=',False)], 'required' : [('use_pricelist', '=', True)]}">
                                     <div class="row mt16">
                                         <label string="Available Pricelists" for="available_pricelist_ids" class="col-lg-3 o_light_label"/>
-                                        <field name="available_pricelist_ids" widget="many2many_tags"/>
+                                        <field name="available_pricelist_ids" widget="many2many_tags" domain="['|',('company_id', '=', company_id),('company_id', '=', False)]"/>
                                     </div>
                                     <div class="row">
                                         <label string="Default Pricelist" for="pricelist_id" class="col-lg-3 o_light_label"/>
@@ -445,7 +445,9 @@
                                     <div class="row mt16">
                                         <label string="Invoice Journal" for="invoice_journal_id" class="col-lg-3 o_light_label"/>
                                         <field name="invoice_journal_id"
-                                               attrs="{'required': [('module_account', '=', True)]}"/>
+                                                domain="[('company_id', '=', company_id)]"
+                                               attrs="{'required': [('module_account', '=', True)]}"
+                                               context="{'default_company_id': company_id}"/>
                                     </div>
                                 </div>
                             </div>
@@ -461,7 +463,7 @@
                                     Products will be taken from the default source location of this operation type
                                 </div>
                                 <div class="content-group mt16">
-                                    <field name="picking_type_id" required="1"/>
+                                    <field name="picking_type_id" required="1" domain="[('company_id', '=', company_id)]"/>
                                 </div>
                             </div>
                         </div>
@@ -477,7 +479,7 @@
                                 <div class="content-group">
                                     <div class="row mt16" title="Whenever you close a session, one entry is generated in the following accounting journal for all the orders not invoiced. Invoices are recorded in accounting separately.">
                                         <label string="Sales Journal" for="journal_id" class="col-lg-3 o_light_label" widget="selection"/>
-                                        <field name="journal_id"/>
+                                        <field name="journal_id" domain="[('company_id', '=', company_id)]" context="{'default_company_id': company_id}"/>
                                     </div>
                                     <div class="row" groups="account.group_account_user" title="Get one journal item per product rather than one journal item per receipt line. This works for any anonymous order. If the customer is set on the order, one journal item is created for each receipt line. This option is recommended for an easy review of your journal entries when managing lots of orders.">
                                         <label string="Group Journal Items" for="group_by" class="col-lg-3 o_light_label"/>
@@ -500,6 +502,7 @@
             <tree string="Point of Sale Configuration">
                 <field name="name" />
                 <field name="picking_type_id"/>
+                <field name="company_id"  options="{'no_create': True}" groups="base.group_multi_company"/>
             </tree>
         </field>
     </record>
diff --git a/addons/point_of_sale/views/pos_session_view.xml b/addons/point_of_sale/views/pos_session_view.xml
index d147717beda..d1c3ada8e97 100644
--- a/addons/point_of_sale/views/pos_session_view.xml
+++ b/addons/point_of_sale/views/pos_session_view.xml
@@ -19,16 +19,16 @@
                     <button name="open_frontend_cb" type="object" string="Continue Selling" states="opened"
                         class="oe_highlight"/>
                     <button name="action_pos_session_closing_control" type="object" string="End of Session"
-                        attrs="{'invisible' : ['|', ('cash_control', '=', False),('state', '!=', 'opened')]}" 
+                        attrs="{'invisible' : ['|', ('cash_control', '=', False),('state', '!=', 'opened')]}"
                         class="oe_highlight"/>
                     <button name="action_pos_session_closing_control" type="object" string="Validate Closing &amp; Post Entries"
                         attrs="{'invisible' : ['|', ('cash_control', '=', True),('state', '!=', 'opened')]}"
                         class="oe_highlight"/>
                     <button name="action_pos_session_validate" type="object" string="Validate Closing &amp; Post Entries" states="closing_control"
                         class="oe_highlight"/>
-                    
+
                     <field name="state" widget="statusbar" statusbar_visible="opening_control,opened,closing_control,closed" nolabel="1" />
-                    
+
                 </header>
                 <sheet>
                     <field name="cash_register_id" invisible="1"/>
@@ -87,6 +87,7 @@
                         <group>
                             <field name="start_at" attrs="{'invisible' : [('state', '=', 'opening_control')]}"/>
                             <field name="stop_at" attrs="{'invisible' : [('state', '!=', 'closed')]}"/>
+                            <field name="company_id" options="{'no_create': True}" groups="base.group_multi_company"/>
                         </group>
                         <newline/>
 
@@ -147,6 +148,7 @@
                 <field name="config_id" />
                 <field name="name" />
                 <field name="user_id" />
+                <field name="company_id" groups="base.group_multi_company"/>
                 <field name="start_at" />
                 <field name="stop_at" />
                 <field name="state" />
diff --git a/addons/pos_hr/static/src/js/models.js b/addons/pos_hr/static/src/js/models.js
index 30121cea357..54a6b1d31d1 100644
--- a/addons/pos_hr/static/src/js/models.js
+++ b/addons/pos_hr/static/src/js/models.js
@@ -6,11 +6,10 @@ var models = require('point_of_sale.models');
 models.load_models([{
     model:  'res.users',
     fields: ['name','groups_id'],
-    domain: function(self){ return [['company_id','=',self.user.company_id[0]],'|', ['groups_id','=', self.config.group_pos_manager_id[0]],['groups_id','=', self.config.group_pos_user_id[0]]]; },
+    domain: function(self){ return [['company_ids', 'in', self.config.company_id[0]],'|', ['groups_id','=', self.config.group_pos_manager_id[0]],['groups_id','=', self.config.group_pos_user_id[0]]]; },
     loaded: function(self,users){
         // we attribute a role to the user, 'cashier' or 'manager', depending
         // on the group the user belongs.
-        self.users = users;
         self.users.forEach(function(user) {
             user.role = 'cashier';
             user.groups_id.some(function(group_id) {
@@ -29,6 +28,7 @@ models.load_models([{
 },{
     model:  'hr.employee',
     fields: ['name', 'id', 'barcode', 'pin', 'user_id'],
+    domain: function(self){ return [['company_id', '=', self.config.company_id[0]]]; },
     loaded: function(self, employees) {
         if (self.config.module_pos_hr) {
             if (self.config.employee_ids.length > 0) {
diff --git a/addons/pos_hr/views/pos_config.xml b/addons/pos_hr/views/pos_config.xml
index 595278abe9c..668837c49ca 100644
--- a/addons/pos_hr/views/pos_config.xml
+++ b/addons/pos_hr/views/pos_config.xml
@@ -8,7 +8,9 @@
             <xpath expr="//button[@id='btn_use_employees']" position='replace'>
                 <div attrs="{'invisible': [('module_pos_hr', '=', False)]}">
                     <span class="o_form_label oe_edit_only">Allowed Employees </span>
-                    <field name="employee_ids" widget="many2many_tags"/>
+                    <field name="employee_ids" widget="many2many_tags" 
+                    domain="[('company_id', '=', company_id)]"
+                    />
                 </div>
             </xpath>
             <xpath expr="//div[@id='pricing']" position='inside'>
diff --git a/addons/pos_sale/models/pos_config.py b/addons/pos_sale/models/pos_config.py
index 8f24a94c433..e34a805b271 100644
--- a/addons/pos_sale/models/pos_config.py
+++ b/addons/pos_sale/models/pos_config.py
@@ -9,13 +9,10 @@ class PosConfig(models.Model):
     _inherit = 'pos.config'
 
     def _get_default_pos_team(self):
-        try:
-            team = self.env.ref('sales_team.pos_sales_team', raise_if_not_found=False)
-            return team if team.active else None
-        except AccessError:
-            return None 
+        team = self.env['crm.team'].search(['|', ('company_id', '=', self.env.company.id), ('company_id', '=', False)], limit=1)
+        return team
 
     crm_team_id = fields.Many2one(
         'crm.team', string="Sales Team",
-        help="This Point of sale's sales will be related to this Sales Team.", 
+        help="This Point of sale's sales will be related to this Sales Team.",
         default=_get_default_pos_team)
diff --git a/addons/pos_sale/views/pos_config_views.xml b/addons/pos_sale/views/pos_config_views.xml
index a494cd6fa9b..2acacdeaa22 100644
--- a/addons/pos_sale/views/pos_config_views.xml
+++ b/addons/pos_sale/views/pos_config_views.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="utf-8"?>
 <odoo>
 
-    <record id="pos_config_view_form_pos_sale" model="ir.ui.view"> 
+    <record id="pos_config_view_form_pos_sale" model="ir.ui.view">
         <field name="name">pos.config.form.pos.sale</field>
         <field name="model">pos.config</field>
         <field name="inherit_id" ref="point_of_sale.pos_config_view_form"/>
@@ -15,7 +15,7 @@
                             <div class="text-muted">
                                 Sales are reported to the following sales team
                             </div>
-                            <field name="crm_team_id"/>
+                            <field name="crm_team_id" domain="['|', ('company_id', '=', company_id), ('company_id', '=', False)]"/>
                         </div>
                     </div>
                 </div>
diff --git a/addons/stock/models/stock_picking.py b/addons/stock/models/stock_picking.py
index 5c48553d49c..8b62d829ce1 100644
--- a/addons/stock/models/stock_picking.py
+++ b/addons/stock/models/stock_picking.py
@@ -64,6 +64,7 @@ class PickingType(models.Model):
     rate_picking_late = fields.Integer(compute='_compute_picking_count')
     rate_picking_backorders = fields.Integer(compute='_compute_picking_count')
     barcode = fields.Char('Barcode', copy=False)
+    company_id = fields.Many2one('res.company', 'Company', related='warehouse_id.company_id', store=True)
 
     @api.one
     def _compute_last_done_picking(self):