Workflow - Associate Contact to Company?

Similar use case as above.

We want to have new customers fill out a form to give us the financial contacts etc. While creating the contacts is relatively straightforward, associating it to the right company will require manual association? Seems like being able to say that any contacts created from an email sent can be associated to the same company, somehow. Obviously, anyone using HS consistently is accustomed to creating custom fields and building intricate workflows, but using Zapier or another app for something so fundamental to the data organization of HubSpot seems comical.

By the way, auto-association via email and/or URL is not possible with our setup.