Generally you have: VPC peering between accounts, Network Access Control List (NACL) for VPC port control, security groups between instances (and some AWS services which uses SG to limit port access), IAM roles to authenticate and authorized certain AWS services to do things (e.gz Lambda to read S3 bucket) - but IAM and policies (bucket policies, SQS policies) govern authentication and authorization. Finally there is also organization service which allows you to control what AWS services are allowrd in a group of AWS accounts.
Sorry, on mobile so I can’t make a prettier list. I am generally disappointed at the complexity of authentication and authorization mechanisms exists for AWS services to be really honest.