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While AWS IoT rules can be configured for cross-account access, this is only possible for destinations that support resource-based permissions. The supported destinations include Amazon SQS, Amazon SNS, Amazon S3, and AWS Lambda. Amazon Managed Streaming for Apache Kafka (MSK) supports resource-based policies, but it’s not explicitly listed as a supported service for cross-account access with AWS IoT rules. Therefore, direct cross-account integration between AWS IoT Core and MSK may not be supported. A potential workaround could be to push data into a SQS queue in the other account and then pull data using Lambda to ingest it to MSK.
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This may be costly due to high throughput of messages. Huge number of lambdas will be needed. From IoT core there is SQS to event bridge. Is it possible to integrate cross account Kinesis Stream from Event Bridge?