How to link between ASN of Purchase order and Shipment number of Transfer order?

Summary:

In business scenario,

1. User creates an intercompany transfer order of item A
2. User creates Purchase order to buy item A
3. ASN is issued for the Purchase order
4. Item A is received in the inventory
5. User perform shipment of item A for the transfer order

The requirement is that the user would like to have a link between the ASN and shipment number, so they can understand that this batch of goods received from the purchase order is shipped for the transfer order. Our understanding is that ASN and shipment belong to the inventory module. Is there a connection or link in the backend that we can use as a reference?