Associated Contacts on CTA not Syncing to SFDC

So I have an issue when a task is created on a CTA and then the CSM goes to sync to Salesforce...the contact they attached in the CTA is not coming through on the task. It would be great if this would pull over to the Name field on the task?
This is a know limitation that needs to be addressed. 

Same as this post Contact on Task Not Synching