I found this guide, which seems pretty helpful. But after playing around with this implementation, I feel like Rudderstack isn't always firing an event for those I've implemented. For example, I'm mostly interested in firing an event any time someone submits a demo request form on our website. However, in looking at the last few days worth of data, there are definitely far fewer events than requests.

Rudderstack events can be affected by ad blockers and security settings so that could explain some of your issues. But we have had good coverage with exception to some compatibility issues with how group tracking is done and compatible with other sources and destinations.