I encountered a companion who found clitoral stimulation painful due to hypersensitivity. Would be interested for any feedback on this subject

Medically speaking this is possible given the amount of nerve endings in the area.  Usually it happens with direct pressure on the clitoris.  A lady may be able to show what can be massaged in the area without triggering discomfort

Do NOT touch it/lick it like you see in porn. Lick it like a stamp. That is all the pressure that is needed.