Many Brazilians go shopping from Foz do Iguazu in Brazil to Cuidad del Este in Paraguay and return home when they've bought whatever without visiting immigration or customs on either side of the bridge.
In late 2015 I did this border crossing. My bike never had a TIP when it entered Brazil, so on the way out I only went to Brazil immigration to stamp myself out. There may have been a customs office, but I didn't see it.
On the Paraguayan side I did immigration and had to seek out customs to get their TIP (up on the hill on the right above the main crossing point). The customs man on the main road initially wanted to just send me on my way without doing a TIP.
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