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Hi shivam_khanna,
you can use AWS IoT Greengrass' Log Manager to upload logs to Amazon CloudWatch. Then you can export logs to S3. In case you prefer a direct upload to S3 you can write your own Greengrass component and upload logs to S3 for example by using Greengrass stream manager.
Cheers,
Philipp
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+1 to Philipp's response. That is the most direct way to get the logs into S3.