the company will have to sue me to take the domain away or the registars just transfer the domain to them without my consent?
Now that I think of it, I seem to recall it's pretty easy to contest a cybersquatter's domain registration, and unless I'm mistaken, it can all be done without a lawyer.
They simply file a complaint for arbitration with ICANN. You get to write out your side of the story to submit in defense of the registration. However, if ICANN rules in the other party's favor then you lose the domain - unless you hire a lawyer to give them grief and start up the battle.
Somebody please correct me if I don't have all my facts straight, but I'm pretty sure that's how it works.