Well, I would bet that the FTP service code hasn't been updated for over a decade so you have little chance of connecting to anything other than an old school FTP server that is riddled with security flaws...
So, I think you have 2 options:
1. Assuming the S3 bucket was set up for FTP via AWS Transfer Family and it's using SFTP, ask whoever owns the AWS side to downgrade the protocol to FTPS or FTP so that you can simply use a username/password set to connect. AEM's FTP service should work ok with this as long as the TLS cert and the endpoint you're using have zero discrepancies. Even then, you might have to import the AWS TLS cert into the AEM JVM keystore.
2. (preferred) Assuming option 1 is unacceptable, as it should be in 2023, find or write some Java code and implement your own FTP component. There is code out there so this shouldn't be too difficult and time-consuming. You might have to deal with the TLS cert for this option as well so keep that in mind.
Let me know what you think of this and what you choose to do.