Earlier quoted context omitted.
Do you want GPG based or some other client side encryption, or S3's encryption support? The latter could probably just be turned on. The former is a feature requiring code.
Ideally the presence of the `WALE_GPG_KEY_ID` env var should enable encrypted backups https://github.com/wal-e/wal-e#encryption . Put differently to be a "successor" it needs to be a drop in replacement ;)
The RSA keys (or path to them) would be passed as environment variables. It would be a little easier to setup than gpg (especially for automatic backup restoration).