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I think I get the root cause. Lambda is using long polling to get messages from SQS. it will wait for the message for up to 20 seconds. So even if there is no message during that time and a shorter batch window like 2 seconds has been set, the function will be invoked after 20 seconds with an empty message.
I will vote myself :-)
answered 3 months ago
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How is your visibility timeout configured?
It's 30 seconds by default