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Hi,
when using a Lambda function to update the thing shadow you need to add permission to the Lambda execution role to update the thing shadow: "Action": "iot:UpdateThingShadow"
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When you use an AWS SDK to interact with the thing shadow you don't need to add an authorization header. You call the UpdateThingShadow API with the language of your choice. Assuming you are using Java because you mention AWSIOTDataPlaneBuilder the UpdateShadow method is documented at https://docs.aws.amazon.com/AWSJavaSDK/latest/javadoc/com/amazonaws/services/iotdata/AWSIotData.html.
AWS IoT Core provides a control plane and a data plane. The control plane is used to create/update/delete your IoT resources like things, policies, rules, etc. The data plane is used for data in your case sending data to the thing shadow.
Cheers,
Philipp
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