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Extracting User/Object relationships

A user can have access to objects like contacts based on salesforce robust security model. We need to pull these user/object relationships. The easiet way is to login with each user and query for all active contacts, thus returning only the contacts that user has access to since the api enforces the security model. If there are 50K of these and we pull every day it becomes a lot of noise. If only one realationship has changed from today, it would make sense to only query that one. There is a lastModifiedDate on a lot of objects but I do not see a way to use that in this type of pull. If I were just pulling contacts I could easily use the lastModifiedDate but to pull "lastModifedUserContactRelationships" doesnt seem possible.  Does anyone have any good suggestions?