Hi Alisa, try either:

=VLOOKUP(E2,Companies!A:G,LOOKUP(D2,{1,2,3,4},{4,5,4,5}),0)

or

=IF(OR(D2=1,D2=3),VLOOKUP(E2,Companies!A:G,4,0),IF(OR(D2=2,D2=4),VLOOKUP(E2,Companies!A:G,5,0),""))