Desperately seeking SugarCRM integration

We have a Drupal 7 site and hosted SugarCRM (i.e., the latest version of it "On-Demand" on SugarCRM's servers).

We need our Drupal users in SugarCRM. I can certainly spend some time exporting them from Drupal and importing them to Sugar, but it would be likely worth time for me or someone else to create some automated direct mechanism for getting users into Sugar, so as new users are created, we can keep adding them to Sugar.

We would be interested in finding out about other integration possibilities, but if we can even just have this ability to make sure any new customers (as represented by their registration as Drupal users) are all in Sugar, we would be happy.

We have some custom user fields in Drupal like Firstname, Lastname, etc. We also have personal data that comes in from Drupal Commmerce, such as contact info, so if that can be transferred to Sugar, that would be great.

If there is some way to do this through standard mechanisms -- some sort of feed or SOAP integration? We'd obviously prefer to use something standard rather than building out our own custom-built module, so we don't add on the long-term baggage of having to maintain that module, adapt to non-standard practices, make sure there are no conflicts, etc.

There is a SugarOnDrupal module, that I think is intended for this purpose, but it only has a Dev release -- last updated over 2 years ago. And the only one article I've found with instructions about this is even older than that, and refers to a 3-year-old version of the CE edition of Sugar.

I have a long background in database development, so I'm comfortable with configuring data sources and architectures, but I have no background in writing Drupal modules.

Is there someone who can either point us to newer articles on how to do this, or tell us how, or take on the work of configuring this, or determining if the existing modules are capable of safely doing this and/or updating the modules to work properly, or write module code to do this?

Our SugarCRM instance is brand new and we'd like to get it up and running right from the start, as soon as we can.