For filters, it is quite easy, you will have to add a "record name" field in the lead and/or contact object in SFDC. This "record name" could be a formula or a text field, populated with APEX triggers in SFDC. Instead of filtering on the lookup field (the one that contains the ID), you will filter on that "Name" field. Formulas work very well if the name of the lookup record never or almost never change. This is normally the case with record types. APEX triggers are better if the name of the lookup record may change, but is far more complex to develop.
For data value change flow step values, there is no easy method...