Thank you pickypalla. I really would like to see the Bonito region.
I looked a bit more on different maps and it seems possible to enter Paraguay from Porto Murtinho. This route did not show up in google maps, probably because there is no bridge yet and we would need to take a ferry across the rio paraguay. It would be possible to drive up from Iguacu to Bonito and then trough the Chaco(Filadelfia) to Jujuy/Salta. This would only add ~400km to the most direct route.
Then from Salta over the Paso de Sico to San Pedro de Atacama and into Bolivia via the Lagunas Route like pickypalla recommended.
Not sure yet about the way from Uyuni up to la Paz. Maybe trough Potosi, Sucre, Cochabamba and Quime.
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