That said, I suggest you attempt to reach out to the company and determine the exact history of the domain and trademark registration as they might provide clues as to what you must do next.
IF you need a legal opinion then you need to discuss this with a lawyer who practices where the trademark was registered. It may be that the registration was one of agency, not ownership, with the registrant acting as the agent for the company and otherwise assigning the rights to the company. Again, that's a matter to be determined by scrutinizing what you can in the trademark records. You might want to take a trip to the trademark office to dig through their records, looking for who paid the fees, what lawyer aided the process (if any), etc. All possible signs of agency or indications of where you might find a definitive answer.