I did not try with command line. I am trying to build sample code in Eclipse with ESP-IDF plugin installed in it.
Code downloaded from
https: //github .com/aws/amazon-freertos
Our getting started guide suggests to use command line and I am not sure if your Eclipse setup will work.
However, if you want to use Eclipse IDF, can you try the code in this labs repo - GitHub - FreeRTOS/Labs-Project-Espressif-Demos. This repo currently only contains Delta Over-the-Air Updates Demo but adding the MQTT demo should not be much difficult.