That's correct. You'll have to use a trigger Added to SFDC Campaign and flow step Add to Engagement Program, Stream 1 or any and the cadence will work its way down.
Hope this helps!
In Product Docs, on the page titled 'Add People to to an Engagement Program' there's this bullet point:
If you are using Salesforce as your CRM and have a Salesforce campaign tied to your engagement program, adding someone to the Salesforce campaign on the CRM side will also make them a member of the engagement program.
My testing confirms that a person added to a Salesforce campaign tied to a Marketo Engagement Program is added automatically to the engagement program and by default is added to Stream 1.
So, if I understood your question correctly, it appears anyone added to a Salesforce campaign tied to an engagement program will receive that program's next cast. There's no need to create a trigger to place the person in Stream 1.
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The leads are not added to engagement program,they are just added to salesforce campaign and the leads which are added to salesforce campaign are not added to the engagement program's active cadences.You can use a trigger Added to SFDC Campaign and flow step Add to Engagement Program