Here is a list of some items that you should check in SFDC if you see a failed to sync error. Typically the root cause is linked to the permissions of the Marketo user that you have set up in SFDC but sometimes it may be a validation rule causing the issue. Usually the Marketo notification will show at least one of the leads affected which you can use then use to troubleshoot the issue.
Here are some additional resources for learning about the Marketo integration with SFDC.
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