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Rio to Iguazu Falls

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We will be in RIo for a week in late May in connection with a conference. Would like to do a side trip to Iguazu Falls, but the tours I've found so far all seem to be 4 days/3 nights, which eats up way too much of our time. Can it be done in, say, 2 days instead? And should I try to book it ourselves or is a tour company necessary to deal with the logistics (flights, transfers, etc). If so, recommendations for a tour company would be welcome.

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