You can share segments/audiences between these solutions by using People core service or Audience Manager. What it does is that visitor Id or declared Ids can be reconciled with profiles from Campaign database. I'm not sure that this would be an easy way to serve your use case but you can have a look at this document to check whether it could be useful to you or not.
Do you mean that you want the unique id from the AEM form to be sent to Analytics when the form is submitted? I'm not sure this is natively supported with Campaign forms edited in AEM. I'd suggest to open a dedicated thread in the AEM forum as they would surely know if there is a way to exchange data between AEM and Analytics.
Thank you for confirming solution - this was very helpful.
I have one more question. I have a AEM form and on submit, the form fields and a unique id is sent to campaign. But I would also want to capture the unique id in analytics. Can I just use the Marketing cloud id to do this, or would i also need an unique id to match the analytics behavioural data with the crm data?