account-financial-tools/account_asset_management/security/account_asset_security.xml

<?xml version="1.0" encoding="utf-8"?>
<odoo>
  <data noupdate="1">

    <record id="account_asset_profile_multi_company_rule" model="ir.rule">
      <field name="name">Account Asset Profile multi-company</field>
      <field ref="model_account_asset_profile" name="model_id"/>
      <field eval="True" name="global"/>
      <field name="domain_force">['|', ('company_id', '=', False), ('company_id', 'child_of', [user.company_id.id])]</field>
    </record>

    <record id="account_asset_multi_company_rule" model="ir.rule">
      <field name="name">Account Asset multi-company</field>
      <field ref="model_account_asset" name="model_id"/>
      <field eval="True" name="global"/>
      <field name="domain_force">['|', ('company_id', '=', False), ('company_id', 'child_of', [user.company_id.id])]</field>
    </record>

  </data>
</odoo>