I've just returned from Brasil, one of few countries that are almost completely open for tourist visits, i.e. no quarantine, no test and even no travel insurance covering COVID is required. The only exception is Fernando de Noronha (Brazilian Atlantic Islands WHS) that require a negative test. Land borders are still closed for foreigners, but airports are open.
Although the country is open for visits, some restrictions within the country are imposed. All museums are closed, though at least some of them should reopen soon. In most states churches are closed too, except for masses, which means they can be visited early morning and in the evening. There are a few exceptions and inconsequences, e.g. in Rio cathedral and Candelaria church were open but Sao Bentos closed, in Brasilia cathedral closed but Dom Bosco open. In Wearing masks inside is mandatory, vast majority of Brazilians wears them outside, some even on beaches! Overall people are concerned and disciplined. We had temperature checks two times transiting a town and several times in hotels and national parks.
But apart from that everything is open, including all WHS (fortunately all of them are open-air). Almost all national parks are open, I noticed only one exception - magnificent NP Cavernas do Peruacu (TWHS) is closed indefinitely.
During my 18-day trip (I came with my wife and children) we was able to cover 14 WHS - Rio, Valongo Wharf, Paraty, Congonhas, Ouro Preto, Pampulha, Diamantina, Goias, Brasilia, Cerrado, Serra da Capivara, Sao Francisco Square, Salvador and Discovery Coast. Detailed route is in this link:https://www.travellerspoint.com/map/#/trip/1295979
As you may have noticed, this trip required a rental car, which is in my opinion the most effective and cheapest way of transport, especially for the family of 4. WHS in Brazil are spread all over the country, so completing them all would require a lot of flying anyway. I rented a bigger automatic SUV, which cost me around 500 EUR for the whole 18 days from the biggest car rental company in Brasil (Localiza Hertz), with no mileage limit. SUV was a wise choice since sometimes I had to go off-road (in total at least 200 km), but always for non-WHS destinations. It can be avoided if you focus on WHS and main roads. Automatic transmission is also recommended as there are lots of road bumps (but not that many as in Mexico or Iran). Quality of roads varies, some have a lot of holes (especially the ones in Piaui, to and from Serra da Capivara), but overall it is decent. But they are narrow and full of trucks, which makes overtaking difficult, especially on curvy/hilly roads of Brazilian Highlands. Average speed is quite low, usually less than 70kmph, and maximum speed is frequently enforced by speed cameras. But if you leave main roads, you won't meet speed cameras or road police at all. Overall, driving was harder than in Argentina but easier than e.g. in Iran.
Brazilian real is at historical lows, which makes this country really cheap. Full tank of gas costs around 40 EUR, ethanol is around 30% cheaper. But fuel prices vary from 2.75 reals (Goias) to even 4.6 (downtown Rio) for 1 litre of ethanol. Accomodation is super cheap, you can easily find a quadruple room for 30-40 EUR. Food is relatively more expensive, but you can eat very cheap lunch on the road for even 10 EUR per family, while dinner on the beach/downtown can easily cost even four times more.
Language barreer is an issue, after you leave Rio nobody speaks English or any other language except Portuguese. Buying brazilian SIM card is recommended. You have to go to telecom sales points and buy and register SIM card there. Card is 10 reals, minimum charge additional 10 reals.
Although Brazil has bad reputation in terms of security, after leaving big cities (in our case Rio and Salvador) we felt completely safe. We had a wonderful trip, a big break from the European restrictions.
I will share details of going to particular WHS in the reviews, but if you have any questions, feel free to ask.