After 2-3 years of working with one then the other, yes and no. They can be quite similar on some accounts, but not quite the same. GCP also has that very Google thing of having very slightly different yet still kind of competing products at the same time.
So does AWS. For just messaging there is SQS, SNS, Amazon MQ, Event Bridge, Kinesis, MSK and probably a couple more tied to product families like IoT and video streaming.