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To be fair this is largely what we felt, until we found a local charity Spin Rocinha that run a DJ school and organised walking tours for 85 reais all of which was invested directly back into mentoring kids in the favela. We did it, just two of us plus the local guide walking about, it was 6 hours long and a really humbling experience. paid more than double the asking price for it and will never forget it. Avoid the vehicle safaris like the plague though, totally.
To be fair, if you are honest about it I think it's fine... I wanted to go to one, but didn't dare, and was against the idea of paying to be driven around in safety looking at poor people. I stayed pretty close to Copacabana and there are Favelas in close proximity so she may have been telling the truth. My issue is with jokers who think they are helping the world/being spiritually enlightened. You are not, you are doing what a small percentage of the Western world can afford to do, giving up work/school and going on a big holiday for 6-12 months without the need to earn money.
I'm getting grouchy, I think I need another cuppa, sorry... where are the funnies?