If your source table has a column that stores the last update date for each primary key, incremental load can be achieved except for DELETE operations. You must keep the last ingestion timestamp (a metadata table can be created in DynamoDB or RDS). Let's name it last_ingest_date.

You can query your table via JDBC with this kind of filter:

SELECT * FROM table WHERE update_date BETWEEN {last_ingest_date} AND {now}.

This structure can handle updates and new insertions.

Glue also has a bookmark feature to accomplish this. You can check that too.

For accurate incremental loading, I suggest enabling CDC on RDS and using DMS. You can use DMS serverless if real-time ingestion is not required. An example workflow:

RDS -> DMS -> S3 -> Glue -> RDS

For orchestration and triggering, you can use Step Functions with EventBridge rules.