Atomatest will make sure all your sync scenarios are working - in case it a clog in just a couple of syncing campaigns. https://launchpoint.marketo.com/automaton/automaton-automated-operations-and-configuration-testing-a...
There's no way that I know of to get all sync errors in realtime, which is unfortunate. I make it part of my daily routine to check the Notifications tab first thing. You can also set up email alerts for critical issues. I also have a running spreadsheet of errors and if there is anything that I see coming up consistently I can flag it and try to pin down the root cause.