>>213913467 (OP)
It is allowed, with exceptions.
In Brazil, camping outside authorized areas may be illegal, depending on the region, type of soil, environmental classification, and local legislation.
Here are some cases where wild camping is not allowed:
Protected national and state parks
Permanent preservation areas (APPs)
Private property without authorization
Environmental or heritage risk zones
The fine for environmental violations can exceed R$ 10,000 in some cases.
https://www.youtube.com/watch?v=x4gDMVgqCb4