Sync User Roles in WordPress to a Membership Subscription

Hi

All of our membership plans are free, none are available to register for from the front end, we simply use membership2 to control access to content. All of the subscriptions match a User Role within the default wordpress profile.

So I have user roles of

ADMIN
STAFF
EDITOR
SUBSCRIBER
AUTHOR

I also have a Membership package of

ADMIN
STAFF
EDITOR
SUBSCRIBER
AUTHOR

How can I ensure that whenever a user is created or their role is changed that the Membership Subscription assigned to that user is automatically synced. For our set up they should always be the same;

If I have EDITOR user role in wordpress I would have a never expiring EDITOR membership package etc etc

No memberships ever expire, they are all set to indefinite.

Can you tell me how to sync these without having to manually change both user role and membership package each time? I just want to update the user role and know that the membership package is right for that role.

Thanks

Wayne