Even Exhibitor is not a silver bullet for managing ZK. It helps with rolling restarts and lets you do a sort of MySQL-esque bin-log replay of your state, but even with Exhibitor, it's not going to make for a smooth recovery at 4:00AM when PagerDuty rings.
The underlying design of how Mesos and Marathon communicate create situations where they have differing views of the state of the cluster, and you end up with "orphans" which are tasks that Mesos is aware of but Marathon knows nothing about.
In my opinion, the system feels like it was designed to be something else, and then all this functionality was tacked on later. Coincidentally that is exactly what the case is with Mesos. I think there is a lot of room for an improved user experience that these tools will struggle to provide.