Got 2 H1b approvals

Hi ,
I have done 2 filings, H1b stamping on company A and is valid till 2025,today Company B petitn also approved.
can i travel on company B.Do i need to appear for Visa again.
Please suggest me,

Yes if you will be joining B after entering the US.

No if you have a valid visa on the day you enter the US, otherwise yes.