Unless you are using SQS FIFO queues, your assumption about the limitation of SQS not supporting multiple parallel consumers is not correct
Standard SQS do support multiple parallel consumers.
Regarding the SQS FIFO queues they don't serve messages from the same message group to more than one consumer at a time. However, if your FIFO queue has multiple message groups, you can take advantage of parallel consumers, allowing Amazon SQS to serve messages from different message groups to different consumers.