The most convenient option will be to use Send To Kindle to add books to your library as ‘Docs’. Then any notes you make on Kindle will sync to cloud and you can use the Fire (after downloading the same book to it) to Export Notebook as an email attachment or save to OneDrive/OneNote/Evernote/Dropbox or what have you. Kindle also has Export feature but it can only be used with Books (from amazon).
If you side-load exclusively to Kindle then you need to use my clippings.txt, and there are tools to extract these.
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