I recently checked this with members of the motorhoming club in Brazil - with the member who has been trying for a couple of years to get the rules relaxed for travellers like us. He said nothing has changed - 3 months initially and readily extendable by 3 months on application to a federal police station. Same for the vehicle (but no info on what happens now with supposedly no TIP.
I got the impression that you could then go over the border and come back and start all over again, but don't take that as gospel.
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