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If the field in SFDC is a lead, contact or account field, this is quite easy. In the wait flow step, click the small gear icon. you will open the Advanced wait properties dialog:
In Type, select Date token,
In end on, first select the field, then complete the setup and save
ATTENTION: this will work only for trigger campaigns, not for batch ones. (For a mysterious reason, Marketo has only enabled this feature for triggered ones).