Set custom Yoast SEO og:image

functions.php

<?php

function company_banner_to_og_image( $image ) {
	global $post;

	if ( is_singular( 'company' ) ) {
		$image_sizes = get_field( 'banner', $post->ID );
		$image       = $image_sizes['sizes']['large'];
	}

	return $image;
}

add_filter( 'wpseo_opengraph_image', 'company_banner_to_og_image' );