I have integrated Woocommerce and Mautic by using Woocommerce webhooks and the Mautic API.
I started out with expanding on the wordpress plugin but I quit in favor of using the webhook/api combo. It’s a more efficient and flexible solution.
Right now i’m syncing customer and order data with Mautic.
I’m happy to share my code if anyone wants it. I did use Python, so if you can’t run Python you’d need to port it to php.