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Have you had a look at https://druid.apache.org/docs/latest/tutorials/cluster.html and https://druid.apache.org/docs/latest/operations/basic-cluster-tuning.html ?

@Kyle Hoondert can you help with sizing of the servers? does master server requires atleast 8vCPU as mentioned in the doc and same for other servers

No, for a small cluster 2vCPU / 8GB RAM on the master is a good starting point