Never EVER offer a domain to a company that owns the trademark something "cheap" as that is like walking over to a bull and smacking it across the nose with a red flag.
If you feel you have to get rid of a domain then GIVE it them for absolutely no recompense, that is certainly the safer option of the two and though you still get noticed the company at least knows that you have relinquished a trademark domain willingly so has no reason to come after you.
Far better than this though is not to park it, not to use it for any profiting and just let it die naturally.