If you live in Europe, this restriction may be considered "gatekeeping" and exempted by the Digital Markets Act.
Don't bring attention to yourself by asking for permission. Publish your codec, and if the company cares about this they will send a cease and desist.
If you want the world to benefit from your code but you don't want to be responsible for it, try to adapt the codec to ffmpeg. The ffmpeg project is used to dealing with these matters, and will keep your codec working for eternity.