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Hi rujoesmith. Apologies that you didn't get an answer sooner after asking.
The AWS SDK JS V3 is for the HTTP APIs. It's not possible to subscribe over HTTP. Thus the IoT Data Plane API only has a publish operation.
More information about AWS IoT protocol options here: https://docs.aws.amazon.com/iot/latest/developerguide/protocols.html
One alternative to Amplify pubsub is to use the AWS IoT Device SDK. JS V2 in this case: https://github.com/aws/aws-iot-device-sdk-js-v2
You can use the device SDK to connect to the MQTT broker over websocket: https://github.com/aws/aws-iot-device-sdk-js-v2/blob/main/samples/node/websocket_connect/index.ts
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