The OOB Salesforce spoke allows for a straight forward configuration to connect the two systems.  Although there is no standard Integration Hub Subflow as part of the plugin to create ServiceNow incidents, you can modify the decision table to use a custom Subflow to achieve the incident creation.

• Product Documentation | ServiceNow
• Set up the Salesforce spoke (servicenow.com)

• Set up a bi-directional webhook (servicenow.com)