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Employer options when setting up 401k for employees
If you were looking to maximize your ability to save in a qualified plan, why not setup a 401K plan in Company A and keep the SEP in B? Setup the 401K in A such that any employee can contribute 100% of their salary.  Then take a salary for around 19K/year (assuming under age 50), so you can contribute and have enough to cover SS taxes.   Then continue to move dividends to Company A, and continue the SEP in B.  This way if you are below age 50, you can contribute 54K (SEP limit) + 18K (IRA limit) + 5500 (ROTH income dependent) to a qualified plan.