Haim,
There is a book called "The Adventure Motorcycle Handbook" by Chris Scot. It has a section on South America and mentions 4x4's as well. It is a great book to get you started. (There is even a section about traveling with friends...)
I have not been on the Pan American Highway very much. However, what I have seen of it, it is paved very well. You will have no problem with your bikes.
The Brazilian Real ($) is supposed to lose some value in the next year, it will make your trip a bit cheaper, should you decide to spend some time there.
Myself and a bunch of other people on the HUBB have websites which you can look at for info as well - click on their user name, look in there public profile and their website should be listed. (or did you know already?)
There are allot of "to do's". Honestly though, you will figure them out as you go. Of course, a guide book and some good maps will help.
Jeff
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