Do we have invite only vendor plan cs cart addon
Which is not visibly publicly
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You could do a simple mod that would prevent specific vendor plans from being displayed to a vendor unless they were already a member. You would do this via a post controller for the vendor_plans addon in the file my_changes/controllers/frontend/companies.post.php
If you want to also add an invite feature, that would be a bit more work but quite doable.
Your developer should be able to do this for you.