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AWS IoT Device Defender is specifically designed for auditing configurations and monitoring device behaviors within IoT environments to detect security risks. This service provides capabilities that continuously monitor security metrics associated with your IoT devices, ensuring they operate within specified security standards. It allows for the identification of unusual behaviors and potential security breaches by assessing various attributes like connectivity patterns, security policies, and compliance with best practices.

With AWS IoT Device Defender, users can also define and implement security policies, enabling automated responses to anomalies detected during its continuous monitoring. This functionality is crucial in maintaining the security integrity of IoT devices, which are often targets for attacks due to their connectivity and varied security postures.

In contrast, while AWS Config deals with resource configuration tracking and compliance monitoring for general AWS resource security, it doesn't specifically target the unique needs of IoT devices or focus on behavioral monitoring. AWS Shield focuses on DDoS protection, and AWS IoT Capability refers to the functionality of the IoT service rather than a specific tool for security auditing. Therefore, the selection of AWS IoT Device Defender aligns directly with the need for detailed security monitoring and auditing within the realm of IoT devices.