I just noticed that you may be using posixGroups based on your debug log message.
Can you try this configuration:
shield.authc:
realms:
esusers:
type: esusers
order: 0
ldap1:
type: ldap
order: 1
enabled: true
url: 'ldaps://auth.company.com:636'
user_dn_templates:
- "cn={0},ou=Users,o=company"
group_search:
base_dn: "o=company"
user_attribute: "uid"
filter: "(&(objectclass=posixGroup)(memberUid={0}))"
The above configuration change will change the search to look for only posixGroups that have the user's uid as a value for memberUid.