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And for anyone searching:
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DMARC can certainly be set up for the domain example.com without a dedicated Marketo IP (or, more precisely, even if you're using a non-branded *.mktomail.com sender domain, as you are with a shared Marketo IPs).
You won't achieve SPF alignment for Marketo emails (which is more than fine) but you'll have DKIM alignment.
Thx sir, as always