Sure, Kinesis is a clear candidate for a larger scale scenario, hence all the disclaimers.
This is aimed at small-scale operations, utilising hopefully simple components.
Firehose works for any scale, small or large.
Kinesis works well for low volume, and isn't any more or less complicated than SQS. You should give it a try, it will certainly make some things simpler
Even though it'd work, kinesis would probably not fit this use case very well (sporadic/low volume logging), since you have to pay every hour, whether you're using it (or barely using it) or not.
Firehose would work, though... no per-hour charges.