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A few things:
1. I moved this post to our Server Admin group where you may receive a more helpful answer.
2. Tableau Online may be a good solution for your issue as the server is not behind a firewall and could easily come from both organizations.
3. You could definitely have a license for each server and publish to them accordingly.
4. You may be able to accomplish what you want through some combination of vpn, adding a second domain (Adding Active Directory Domains), and having yourself added to Tableau Server. *This method seems like the most work*.
Thanks - I will have a look with your suggestions.