The problem with relying on TCP for reliability is that its state is in memory, associated with a particular peer IP address, and acknowledgements passed back to the sender only indicate that the receiver has the data in local memory, not that the data has been processed.
A file download over TCP can fail, for example due to a network problem. Ensuring reliable delivery requires additional measures outside of TCP, such as retrying the download using a new connection.
In practice, this means that TCP is primarily useful for providing flow control and offering a streaming interface (no worry about packet sizes). Less so as a complete solution for transmission reliability.
[1] http://docs.aws.amazon.com/iot/latest/developerguide/protoco...