This error appears when navigating to Performance, or the main W3TC settings page.
This is due to a typo in the latest CloudFormation template on the AWS Marketplace page. An update is currently pending, but you can download the corrected template here.
To fix this issue, run the following command:
mysql -h <Aurora Cluster Endpoint> -P 3306 -u <db connection user> -p<db connection password> -D <database name> < /home/ec2-user/w3tc_cdn.sql
You can get the Aurora Cluster Endpoint, database credentials, and database name from wp-config.php.
The command above will run SQL that creates a table required for the W3TC CDN to work.