Sugar CRM and Mautic configuration

We have Mautic installed on our server and we did install Sugar CRM and have integrated it between the Two.
But...
We have never made it work properly

We would no like to use Sugar CRM properly and be able to filter out companies we have in our DB based on filter criteria. The companies are initially in the UK, ca 4.5 million records alone and we plan on importing more there too

We would like to use it for segmentation and filter companies based on that and also utilize the possibility Mautic gives to see if the company owner has been surfing on our site and even signed up etc.
All that CRM information we could utilize.

we also plan to have people calling to the companies we have mailed to so we need to have it configured too