If you use a connector appliance to manage your ArcSight connectors you can just add a new destination and point it at your Splunk server.
Add Destination > Create a new destination > Raw Syslog. Enter IP/Host, Port, Protocol (UDP), and select 'false' for metadata.
Enable a UDP syslog listener on the port you specified for your destination and have Splunk read the file.
This was my feedback in this similar question
I had this configuration working for a transition from arcsight to Splunk. You'll need a little bit of custom parsing on the Splunk side to get everything correct.
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