Hi Jason,
I think the strategy here depends on how your systems are architected. Similar to Elliott's strategy, we use the MKTO Lead Id for this function. The token is: {{lead.id}} For whatever reason, the field token may not be in the list when building an email, but it does work! {{lead.id}} is also great for webhooks!
The SFDC Id can work just as well, but the field will need a value and this approach is dependent upon how/when you sync records.
Note: If you are inserting a unique id into your email links, this affects the 'Email Link Performance' report. Every link will appear as unique which makes the report unusable.
Hopefully MKTO will add a way for end users to filter adequately for this use case.