Thanks - no it doesn't get steeper than that - it's absolutely doable without safety rope.
No permit required. You can get detailed info here - https://www.backtotheroutes.com/hl_page/76/?gid=6&gn=Rio%20And%20Costa%20Verde&hid=33&hn=Rio%20de%20Janeiro
Thank you, that's amazing! Something to remember, when I finally get a chance to travel to Brazil!
It must be pretty humbling standing there on top enjoying the view. I love those moments when nature gives you some perspective. At the same time it must be a hugh contrast when you get back down into civilization and walk through the favelas.