We‘re using AWS Kinesis delivery streams to batch incoming JSON messages from IoT devices to Parquet files in S3. Those can directly be read by different AWS services like Redshift, EMR or Athena...
We use Athena for all our robotics data, which we ETL into JSON. It's fantastic for queries that are simple time-slice queries, as most are because sensor data is inherently time-series. When more complicated joins are necessary, the performance is there across terabytes, and the cost is very very low, $5 per terabyte scanned (storage costs are another thing).