Have been in and out Brazil with EU and USA registered vehicles the last 9 years and never bothered about the temp import permit. But this only at landborders. (When shipping from\to Brazil it is a different story)
The Receita Federal (=customs) works different at every border and as long as there is no network it will be chaos. Tourists from one of the Mercosul countries do not need any temp import paperwork, therefor many borderofficials in the southern part of Brazil do not even know that people who are from a place further away than that dó need one. Same counts for the police so the chance they will stop you and ask for it is very small. at least I never had it during the 100.00o+ brazilian kms
If you want to ship it I would turn southwards again.
Foz do iguaçu= Prt Iguazu is an easy border (as is the Paraguay option), no questions asked by the Receita, on sundays they are not even there... and ship from Buenos Aires, some extra kms yes, but much less complicated than shipping from Brazil (even wíth the right documents)
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