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there maybe some alternative approach
AWS Kinesis Data Firehose to deliver data to S3 without converting it to Parquet, and then use Glue or Athena to convert and query the data later. One possible workaround could be to manually create a Glue table that matches the schema of the data you're streaming in. You could then point your Firehose delivery stream to this existing Glue table.
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To summarize the catch 22: