Hi Christina,
I'm with you about RCA - I feel like every solution I get is something to do with SFDC or RCA, neither of which my company has. I'm with Chris, I do not believe there is a way to produce a list of all the people that opened the email and clicked and what they clicked on.
It's extremely frustrating, because it was easier to find this information in MailChimp, our old ESP, than it is in Marketo. It was still a manual process, but it was possible.