Yes, pURLs are lead-specific variants of a landing page. They are expressly for situations like direct mail or print.
However, they have a few oddities that can only be fixed with custom JS code. Principally, they are designed for leads who have never visited your site before, even anonymously. As I usually put it, the pURL is a "weak associator" to the named Marketo lead -- weaker than the association between a Munchkin session and an anonymous Marketo lead. So it can't override the latter out-of-the-box.
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