You can go now. I just got back from a three week trip. I’m in quarantine now but going back in December. No quarantine upon arrival there. No visa needed. Great food and people. Summer is starting. The beaches are great. And I never felt any Covid danger. People take normal precautions but pretty much everything is open. And the flights are quite empty!! I haven’t checked the data for São Paulo and Rio and points south recently, but last time I looked per capita it was no worse than Quebec.