Step Functions would work for this. You can define sequential & parallel steps, branching paths etc. You can use this with or without CodePipeline too, see https://www.sentiatechblog.com/aws-step-functions-the-deployment-orchestrator-that-codepipeline-should-have-been.
CodeDeploy is a supported service integration - https://docs.aws.amazon.com/step-functions/latest/dg/supported-services-awssdk.html.
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