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In a distributed system, race conditions can occur that make this possible, or better said, it is not impossible. Idempotency is the solution.
answered a year ago
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SQS was designed with the architecture you describe in mind - auto-scaled fleets of worker instances all consuming the same queue are a very common pattern. Receiving the same message is rare (I've never seen it when looking through logs); there's probably no guarantee though and this possibility is covered by the declared at-least-once delivery.
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With standard queues this can happen. Maybe not a lot, but sure can.