I want to register a new domain name in the TLD for transfer to Route 53.

Hello,

As the domain is already registered, you can just:

• create a public hosted zone in Route53: https://docs.aws.amazon.com/Route53/latest/DeveloperGuide/CreatingHostedZone.html
• get the nameservers for this zone: https://docs.aws.amazon.com/Route53/latest/DeveloperGuide/GetInfoAboutHostedZone.html
• set these nameservers in your registrar console (often found in glue records or nameservers)
• use your public hosted zone by creating records

Note here that you can have a registrar GoDaddy different than DNS service (Amazon Route53).

Hope this help.

One way to use R53 (for better integration with AWS services, for example) without actually transferring the domain, is to update the name servers in your current registrar with R53 name servers. You can refer to the process here.