The best solution is to reload System Manager with the desired vFQDN, presumably hostname.companydomain.com. Another layer of issues presented itself when the installer attempted multiple attempts at running SMnetSetup from ASM but the vFQDN cannot actually be changed from Session Manager's SMnetSetup. An installer could keep the undesired vFQDN as an option too which might be an okay option especially if the Geographic Redundancy (GR) options of System Manager are not really being utilized in the implementation.
IMPORTANT - In this case the installer ran through SMnetSetup multiple times, attempting to change/assert a different vFQDN. The typical tools found in ASMinstall folder of cleanWAS.sh, cleanSM.sh, and install.sh are not included in the ASM 6.3.2 ova in an effort to make the ova smaller. As a result the ASM ova will either need to be reinstalled or one could also mount the 6.3.4 iso which will include the tools needed to correctly install the pair and for DRS to initialize. In this case our attempt to use the 6.3.4 iso failed becasue it was mounted to /tmp and since during the install the scripting needs to access /tmp the install failed but it did load the tool we needed to clean the original installation and put in the desired vFQDN after the System Manager was reloaded with the desired vFQDN.
ALSO IMPORTANT - The vFQDN that the ASM shows as seen from SMnetSetup is what System Manager is telling the ASM what that value is. If the value for vFQDN doesn't look as desired then the System Manager must be reinstalled with the desired vFQDN. In a VMWARE installation of ASM you will not have a chance to see what the vFQDN is unless SMnetSetup is run again and the information is changed but if this is done the information will not match. If DRS fails to initialize upon the initial installation attempt of the ASM ova understand that the very likely issue is a mismatch in the vFQDN of System Manager.
AVAYA development is working on changes to vFQDN and how it's presented in the initial setup as a result of similar unintended consequences.
Solution 2 - Tried to use the change vFQDN script ( /opt/Avaya/Mgmt/*/utils/ipfqdnchange/SMGRVirtualFqdnUtility.sh ) to change the vFQDN, but script failed. Reinstalled System Manager with a new vFQDN, and initDRS completes. (Example vFQDN grsmgr.domain.com) The value of the vFQDN can be found in /opt/Avaya/Mgmt/*/infra/conf/smgr-properties.properties
PSN004351u:Utility for changing VFQDN of System Manager: https://downloads.avaya.com/css/P8/documents/101002301