Not sure if you consider this simple, but there's a direct program membership lead endpoint that returns all the programs that a person is a member of along with their progression status, membership date, success, etc. (i.e., standard program fields data).
If you're also looking to export the program member custom field(s) data, you'd need to use the bulk program extract API as PMCF, unlike the standard program fields may not have data for all the program members. This, unlike the above program membership lead endpoint, queries and returns data at the program level and not at lead data.
