I've been using AWS CDK lately for development. It's pretty nice. Everything is Typescript, so you have Intellisense (if you use VS Code) for everything, not just your Lambda functions and your custom resources.

What you don't mention (at least not explicitly) is testing, which I think is critical. Jest is a very powerful testing tool, and you can set it up to mock AWS services fairly easily, provided you have examples of the JSON those services return.