current _user
is a reserved keyword in MySQL.
You need to escape it in your query to mark it as a table alias.
Use backtick in your query. Like so:
SELECT `all_users`.`id`, `all_users`.`username`, `all_users`.`fullname`
FROM `user` `current_user`
JOIN `company` c ON `c`.`id` = `current_user`.`company_id`
JOIN `user` all_users ON `all_users`.`company_id` = `c`.`id`
WHERE `current_user`.`id` = <<<$current_user_id>>>