ASA 5506 VPN RDP from Domain A to Domain B

[BlacksuitHades]

OK, I am new to Firewalls so excuse my ignorance. I am trying to perform the following scenario and need help.
Scenario:
Company A - 172.16.200.0/24
Company B - 10.30.0.0/16

I login to the VPN for Company A and I try to RDP to a file directory on Company B, fails to connect.
Currently I VPN into Company A, RDP to a server on Company A then run RDP to file server on Company B, it works.

I need to be able to access via File Explorer and RDP to Company B from Company A's VPN. I cannot figure out where to create the access rules on the firewall to accomplish my goal.
There is a DMZ setup between Company A and Company B. I tried to create a few access rules and ran packet tracer but cannot figure out where my ignorance is.

Thank you for any help you SMEs can provide a rookie here.

[balaji.bandi]

This proves that Company A RDP works to access Company B file servers.

So that means Company A RDP Server IP range have access to Access Compnay B File Servers.

You need to below test.

Compare the IP address range you have failed to access with the RDP IP, add the same Access rules on FW's to get access for the same

you can also look at the logs in ASA see which rule was blocking(when you try to access file access from the devices)

Hope this make sense