Rio de Janeiro Walking Tours & Routes 2026: Self-Guided Walks Key Takeaways Historic Center Route: 4-5 hour walking tour covers Praça XV, Imperial Palace, Confeitaria Colombo, and São Bento Monastery with free-R$20 attraction entries, best completed Tuesday-Saturday mornings when churches and museums operate full schedules Santa Teresa Artistic Quarter: 2-3 hour hilltop […]