A third approach is to compare the number of people you have in a program/campaign with a success. Compare that to the number of members you have to the synced SFDC campaign. If there's a difference, then there's a sync failure. Sort the members in a way that's easy for you to cross check who is missing. Check one of the lead's record that failed to sync and look at the activity record and you might be able to find the cause of the failure.
It's really not that painful, but that's the other way I detected that there was a sync problem.