There is an example here:
https://startup-cto.net/simplify-aws-lambda-functions-with-middleware/
Basically use functional programming approach, write high-order functions
Pro:
Not forced to use anything unnecessary
Has full control
Con:
Need more time to write the middle ware - cannot just fetch ready middleware and use
Quality of hand-written middleware may not reach to maturity (security) of available solutions
In case of building own middleware, each middleware can be built as (https://dbartholomae.github.io/lambda-middleware/):
(options) => (handler) => (event, context) => Response
https://dbartholomae.github.io/lambda-middleware/
It just uses high-order function and compose to do the work.