I have 2 approved petitions and after stamping with CompanyA, I want to go with Company B. Do I need to restamp?

Company A and B both filed an H1B petition for me in the same year. Both of them got approved and I went for stamping with company A. Now A is not calling me. Do I need to restamp the H1 visa If I want to go with company B now?

PS: I haven’t travelled to US with either of the company. It would be like first entry, so it is allowed to have visa stamp from Company A but going to work with Company B. Or re-stamping is required?