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With Mal/HTMLGen-A, the main message Sophos is sending back is that the URL meets a pattern that it sees with redirects being malicious. Of course, this is a false positive in this case, so the best way to get around this is to set up branded tracking links in your emails. You can find setup instructions on how to handle this at Setup Steps - Marketo Docs - Product Docs from steps 6.5 onward.
Thank you Courtney!