The following video demonstrates the process of integrating your AWS account with Intruder by downloading the CloudFormation Stack, creating the Role in the AWS IAM Dashboard and then copying the role ARN across to Intruder.
You can find written instructions for this in the AWS (Amazon Web Services) Account Integration article.
We also have a feature called Cloud Sync, which helps you customise the management and scanning of your cloud assets, with varying degrees of automation, more on that here: