This is one way you can resolve this situation:
/companies/{companyName}/employee/{employeeId} -> returns data about an employee, should also include the person's data
/person/{peopleId} -> returns data about the person
Talking about employee makes no sense without also talking about the company, but talking about the person does make sense even without a company and even if he's hired by multiple companies. A person's existence is independent of whether he's hired by any companies, but an employment's existence does depend on the company.
