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Place an oven rack in the center of the oven. Preheat the oven to 350°F. Wrap each potato in foil and bake for 1 hour, until tender when pierced with a knife. (Alternatively, cook the potatoes in a microwave. Put 2 potatoes at a time on a dinner plate; microwave on high for 8 minutes. Turn the potatoes over and cook for another 6 to 8 minutes, until soft. Repeat with the remaining potatoes.)
In a large skillet, heat the oil over medium-high heat. Add the onion, 1 teaspoon salt, and ½ teaspoon pepper. Cook, stirring frequently, until softened, about 3 minutes. Add the garlic and cook until aromatic, about 30 seconds.
Add the sausage, and using a wooden spoon, break up the meat into ½-inch pieces. Cook until brown and cooked through, 6 to 8 minutes. Add the marinara sauce and arugula. Bring the mixture to a boil and cook until the arugula has wilted, about 2 minutes. Stir in the mascarpone until the mixture forms a creamy sauce. Remove the pan from the heat and stir in the Parmesan cheese. Season to taste with salt and pepper.
Cut a slit in the top of each potato and gently squeeze the ends to form an opening in the top. Spoon the sausage sauce into each potato. Garnish with chopped parsley and serve.