The only two things I would add (1) Be very careful if you see a stop sign (PARE) at a traffic circle/roundabout. When I first got here I stopped at a stop sign and I almost got rear-ended. Check your rearview mirror to see if there is a car behind you and if they are slowing down. If there is no other car in the traffic circle, most Brazilians just run through the stop sign at full speed, so they are going to assume you are doing the same thing, and you might get hit if you stop! (2) Because of the layout of the city with all of the U-turn lanes, the left lane is often backed up with people waiting to make a U-turn, so it's not always the "fast" lane. If you want to go a bit faster, sometimes the central lane is best.