Hello,
If your 2 application are using the same policy server, are in the same cookie domain (.company.com), in the same cookie zone and using the same protection level, you should have SSO. You should also use the same user directory name in the domain /realm definition.
Depending on your configuration you would have to trust SSO zone, use auth/validation mapping.
Check all your constraints and depending on them, you will be able to design your policies to enable SSO between your applications.
Hope it helps,
Julien.