BR 163 is one of the most complicated roads I have ridden in Brasil. There are many pot holes and the fog made the visibility less than 50m. People travel extremely fast on this road and there are many trucks.
The section from Campo ere to Salto da Yucuma is very fun. Be cautious because there are a lot of trucks on the road and the surface is uneven. You will have to takea ferry from itapiranga to Vista gaucha. The cost is 10 reais.
The trip from Orleans up to uribici is amazing. It is considered one of the funnest roads to ride. The road is extremely inclined with beautiful scenery and many places for motorcycles to stop. The section from Uribici to Serra de corvo branco is amazing, but the road condition is hazardous. Definitely one of the funnest rides in brazil.
The routes from PN Sera Geral and PN Aparados da serra to praia grande are extremely complicated. I only recommend that section for offroad bikes. The road from Cambara do sul to the parks is gravel but very good condition.
The road from SF de Paula to Taquara is one of the nicest I have done since I have done since I have been in Brazil. There are many corners with beautiful scenery. It is part of the Rota Romantica. The scenery is amazing. When I decided to return I took the back road via padilha instead. Again I did not plan this, just let your good sense and spirit guide you.