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Brazil - Rio to Sao Paulo

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We will be in Brazil in June for one or two World Cup games. Has anyone driven from Rio to Sao Paulo? What was your experience? Guide books don't recommend it but I hate to miss all of the scenery in between. Suggestions are appreciated. We are also planning on visiting the pantanal since we have tickets to one game in Cuiaba. I know its a big country and advice is appreciated.

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