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It sounds like you're having trouble joining, not with the Salesforce inputs, is that correct?
For the Participant Activity, you stated each "can be associated with any of the Contacts". Does this mean it doesn't matter which one they're associated with, or we're not sure which one they're associated with? In other words, do you just need them to be paired up with one of the contacts, or is there some sort of identifier that lets us know which one they belong with?
Could you post some sample data? Ideally a few records from each of the inputs, and then an example of how the data should look after going through the workflow.