I feel like I've recommended it enough times I'm turning into a shill but Pentaho is an open-source and commercially supported ETL tool that will natively do what you want, or call sqoop when you discover that's kinda slow. :-) And no I definitely don't work there.

Have a look at Kafka Connect (http://docs.confluent.io/2.0.0/connect). The JDBC Connector will poll for database changes changes and push them to a Kafka topic. Means you should see all the changes in the database rather than a snapshot say once a day

Using Sqoop from something like Luigi as the ETL manager is a pretty great workflow - https://github.com/spotify/luigi

You can define dependencies between jobs based on output file which allows you to re-run only part of your pipeline

We've been trying out goldengate to get streaming replication, but it has proven rather unreliable. Stops replicating if you sneeze in its general vicinity. I wonder whether the alternatives like shareplex and tungsten are more reliable.

Ever since using Apache Spark's Data Sources API was released, I have been relying no different Spark Data Source packages for my ETL jobs.