I was able to figure out a way to make this work. If you running a "Point of Interest" strategy within SFDC, you will need this so that your campaign attribution is not broken. For clarification, POI is:
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If SFDC Lead ID exists, update lead
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If SFDC Contact ID exists, create a new lead anyway
The reason we do this is because our sales team only works off of leads, and we have multiple products and services to sell, so customers will re-enter the sales process.
How I fixed it:
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I created two new fields on the SFDC Lead object: Customer Base Lead Created Updated Date and Lead Source Detail
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As part of the Smart Campaign triggered by form submission, I created flow that updates the Customer Base Lead Created Date with a date/time stamp, and updates the Lead Source Detail with the actual campaign name. I already had a sync to salesforce campaign created to create the new lead
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I created another smart campaign that triggers off of changes to the Customer Base Lead Created field AND where the Lead Source Detail field = my campaign name. I then used the Add to SFDC Campaign in the flow to associate the campaign to the new lead
The reason this is all necessary is because Marketo can't seem to handle having a Marketo Lead record that has both a SFDC Contact ID and Lead ID. It ends up creating a duplicate record that does not have all of the activity history on it. But, the solution as described above, works.