JotForm is a free online form builder which helps you create online forms without writing a single line of code. No sign-up required.
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You can follow this guide on how to use your company's domain as your form's url: How to use Custom Domains with Jotform.
If successfully done, your form custom domain URL should be in this format:
If you do not have your own domain, then you can follow this guide on How to Create a Custom URL of a Form? This method will still have the jotform address, but you can replace the form ID with a custom name for the form.
This will allow you to create a custom url like the example below:
Please let us know if you need further assistance.