For what you wish to do you do not necessarily need bi-directional nat....
To make your printer (192.168.4.2) available via different addresses on different vlans you can use...
static(inside, comp1) w.x.y.z 192.168.4.2 netmask 255.255.255.255
static(inside, comp2) a.b.c.d 192.168.4.2 netmask 255.255.255.255
You would only need to use bi-directional NAT if you needed to NAT the outside companies source addresses onto your own IP address space.
E.g. assuming that the company on comp1 interface is using range 130.10.10.x /24 and you wish to see this as 192.168.5.0 /24 internally you could use
static (cust1, inside) 192.168.5.0 130.10.10.0 netmask 255.255.255.0
Hope that helps...