You are correct in that two states should not be withholding on the same income under normal circumstances.
In your situation your employer should not be withholding PA taxes. Here is the PA reference. Your resident state, CA should be withholding for your work for the PA company, while in CA.
You will, as in the past, need to file the non-resident PA return to get the taxes already withheld in 2022, but going forward that should not be the case.
Work with your employer to correct your withholding states.
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