it is definitely worked

1)create js file
odoo.define('your_module.HideMenuSection', function (require) {
    "use strict";

    var core = require('web.core');
    var _t = core._t;
    const ajax = require('web.ajax');
    var SwitchCompanyMenu = require('web.SwitchCompanyMenu');
    var session = require('web.session');

    SwitchCompanyMenu.include({
        _onSwitchCompanyClick: function (ev) {
            if (session.user_context.allowed_company_ids) {
                let cmp_id = session.user_context.allowed_company_ids[0];
                ajax.jsonRpc("/switch/user/company", 'call', {
                'company_id': cmp_id,
                })
            }
            this._super.apply(this, arguments);
        },
    });
});

2)call the controller
from odoo.addons.website.controllers.main import Website


class BackendControllerInherit(Website):
    """Website Inherit"""
    
    @http.route('/switch/user/company', type='json', auth="user")
    def switch_user_company_details(self, company_id, **kw):
        """Check selected user company"""
        restricted_menu = 'your_module.your_menuitem_id'
        menu_id = None
        try:
            menu_id = request.env.ref(restricted_menu).id
        except:
            pass
        if menu_id:
            menu = request.env['ir.ui.menu'].browse(menu_id)
            if company_id:
                if company_id == 1:
                    menu.sudo().update({'active': False})
                else:
                    menu.sudo().update({'active': True}) 
3) add link reference
odoo>
    template id="assets_backend" name="claim assets backend" inherit_id="web.assets_backend">
        xpath expr="." position="inside">
            script type="text/javascript" src="/your_module_name/static/src/js/your_js_file_name.js"/>
        /xpath>
    /template>
/odoo>

Hi,

Try create a boolean Field under company to show Recurring Invoice Pipeline menu and set the attrs invisible based on company boolean field.

Regards