How can I hide or fill field based on company selection?

If i have a company field and my sales has added the company name and all data for the first time on the second visit to this form i want him to select the company name to auto complete some field based on the name of the company and then complete the visit survey or to click on place order button to open the order form 

We do have a Show and Hide Field condition that you can use. Please check this document for more information: How-to-Show-or-Hide-Fields-Base-on-User-s-Answer.

You can use the Spreadsheet to Form widget. This widget allows you to upload your spreadsheet to your form and use the values you have on the spreadsheet to pre-populate your form. Here's a guide: How-to-Use-the-Spreadsheet-to-Form-Widget.

You can also prepopulate fields based on URL using the Field Prepopulator App. Here's the link: https://prepopulate.jotform.io/.

If you want to do it manually, kindly follow this guide: Prepopulating-Fields-to-Your-JotForm-via-URL-Parameters.

Hope that helps. Thank you.