There is one workaround, but it requires some manual work and using Skyvia Query tool (it allows executing up to 5 queries per day for the Free subscription).
1. Switch to the Query tab.
2. Click New SQL.
3. Select your Salesforce connection.
4. Enter the following query:
FROM Contact AS t
WHERE (date(t.LastModifiedDate, '+1 hour') >= date('now', 'localtime', '-1 day') AND date(t.LastModifiedDate,'+1 hour') <= date('now', 'localtime'))
5. Click the Execute button, and this query will return all data from the Contact object, for which LastModifiedDate is between yesterday and today (considering timezone UTC+1). Then click the CSV button in the Result header to export CSV file: http://prntscr.com/jadnvl
6. Now you can create an import package from CSV to your destination. The CSV file will contain filtered data that you want, and you do not need to add any filter for this package.
Skyvia Query does not support scheduling, so you need to execute the query and export the result to CSV manually.