One forest/organization can only hybrid with one Exchange online. So, I would suggest you take the following two ways:
Way 1: Migrate the child company mailboxes to parent Exchange online(you need to sync child AD account to parent AAD first), then do a Cross-tenant mailbox migration to migrate those mailboxes from parent Exchange online to the Child Exchange online.
Way 2: You can also export data from the child mailboxes with New-MailboxExportRequest command. Then assign license on new tenant to enable mailbox for child domain. After than, you could use network upload service to import data to new mailboxes.
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