Marketo Programs and Salesforce Campaigns can be synced automatically using the OOTB campaign sync feature; however, that's via the native Salesforce integration (you don't need MSI for that). See this for more info: SFDC Sync: Campaign Sync. Below is how Program and Campaigns are synced (and the corresponding mapping b/w both)

With the Marketo program and Salesforce Campaign sync enabled, you can either link your Marketo Program directly or use the flow step to add people to the Salesforce campaign and manage the member transitions, too.
Also, programs and memberships synced via the campaign sync feature should automatically get populated in MSI, if/where applicable. Hope this helps. Please let us know if you have any other questions.