Edit (upon question Update)
Problem
The way the interaction between controller(s) and your factory is designed is brittle and error prone. See your code commented below:
// factory
app.factory('companies', ['$http', function($http) {
    data = [];
    for (let i = 1; i < 11; i++) {
        // you CANNOT control when this is going to return
        $http.get('https://examplepage.com/wp-json/wp/v2/categories?per_page=50&page=' + i)
        .then(function(response) {
            // so this doesn't push to `data` synchronously, this DOES NOT
            // guarantee you when you return data, every response.data will be there
            data.push(response.data);
            console.log('data', data);
        },
        function(err) {
            return err;
        });
    }
    // this will always be returned empty ([], as you initialized it) because
    // the async responses (commented above) haven't arrived when this lint his hit.
    return data;
}]);
// controller
$scope.companies = companies; // so, companies will always be [] (empty array)
Solution
You should strongly consider changing the way you implemented the factory to something like this:
The Idea:
- Do not call the endpoint x(11) times for getting 550 items (50 * 11 times)
- Provide a function (getCompanies) in the factory  which accepts aitemsPerPageand apageparameter, this way you can get as much items as you want and in the page you want. i.e.: for getting 550 items you should call it:companies.getCompanies(550);
- From any controller which wants to get the companies call companies.getCompanies
The Code:
// factory
app.factory('companies', ['$http', function($http) {
    function fnGetCompanies(itemsPerPage, page) {
        var ipp = itemsPerPage || 50; // 50 default
        var page = page || 0; // 0 default page
        // return the promise instead of data directly since you cannot return the value directly from an asynchronous call
        return $http
            .get('https://examplepage.com/wp-json/wp/v2/categories?per_page=' + ipp + '&page=' + page)
            .then(
                function(response) {
                    // and then return the data once the promise is resolved
                    return response.data;
                },
                function(err) {
                    return err;
                }
            );
    }
    // provide a `getCompanies` function from this factory
    return {
        getCompanies: fnGetCompanies
    }
}]);
// controller
// get 550 items starting from 0
companies.getCompanies(550, 0).then(function(companies) {
    $scope.companies = companies;
});
Additional notes
Remember You cannot return from an asynchronous call inside a synchronous method
Original Post
You could use Array.prototype.reduce first in order to convert the multi-array structure to a single array like this:
$scope.companies = companies.reduce(function(prevArr, currentArr) { return prevArr.concat(currentArr);}, []);
This converts a structure like this:
[
 [{id: 1, name: 'A'}, {id: 2, name: 'B'}, {id: 3, name: 'C'}],
 [{id: 4, name: 'D'}, {id: 5, name: 'E'}, {id: 6, name: 'F'}]
];
into this:
[{"id": 1,"name": "A"},{"id": 2,"name": "B"},{ "id": 3,"name": "C"},{"id": 4,"name": "D"},{"id": 5,"name": "E"},{"id": 6,"name": "F"}]
Simple demo:
var companies =[
 [{id: 1, name: 'A'}, {id: 2, name: 'B'}, {id: 3, name: 'C'}],
 [{id: 4, name: 'D'}, {id: 5, name: 'E'}, {id: 6, name: 'F'}]
];
console.log(companies.reduce(function(prev, current) { return prev.concat(current);}, []));