How to Submit Salesforce Custom Object Data to an Eloqua Form?

Hello,

I'm working on integrating Salesforce (SFDC) custom object data with Eloqua forms. Specifically, I aim to submit data from a Salesforce custom object into an Eloqua form to leverage form processing steps and trigger related workflows.

I understand that the Form Submit Action App primarily maps contact and account fields, not custom data objects (CDOs). Given this limitation, I'm exploring alternative approaches:

Has anyone successfully implemented a solution for submitting Salesforce custom object data to an Eloqua form? I would appreciate any insights, best practices, or guidance on this integration.