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.