Hey there, Todd Erickson
You could speak to your old parent company and ask them to remove any resources that are using your domain name on their tenant. This will include any users, group email addresses etc...
Then they will need to delete your domain from their tenant so that their domain is the only domain available on their tenant.
Once they have done this, you should then be able to create your domain on your own tenant. Please also be aware that removing/deleting services using your domain in the old tenant will result in you losing your data.
Hope this helps,
Nathan