How to call Amazon S3 bucket using postdata preSigned Url to upload a file using Karate

Try this change:

And multipart file file = { read: '../testData/validPdfFile.pdf'}

Read this for a little more explanation: https://github.com/intuit/karate/tree/develop#multipart-file

Other than that you seem to be doing everything right. So it is up to your de-bugging skills now. Or give us a way to replicate: https://github.com/intuit/karate/wiki/How-to-Submit-an-Issue

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