In full transparency this is difficult and not something that the native HubSpot Salesforce Integration supports. There are some options for you to consider but they'd require development to implement.
Option 1: Custom Integration: Create a script leveraging the CRM API to pull the calls from HubSpot and then utilise the Salesforce API to update on the corresponding records.
Option 2: Custom Coded Workflow Actions: Using Operations Hub Professional you could setup scheduled workflows and run a custom coded action daily to sync engagements (Calls with recordings) to Salesforce.
Option 3: IPaaS: Use a low code/no code platform like Make, Tray.io or Workato to pass data back and forth.
If I were you I'd look into Option 2 first as in my opinion it's probably the easiest solution to get up and running with. Either way there are going to be costs associated to each and it's a question of asessing what syncing this data means for your business.