I just got approved to transfer my USA driver's license and should receive a Brazilian driver's license in approximately 15 days.
I live in the state of Goias, in a small town about 90 minutes drive from the capital city of Goiania. Apparently, Detran offices in the smaller towns and cities are not able to process license transfers from other countries, so I had no choice but to use the Detran office in Goiania.
First, I had to get my license translated by an official translator. The nearest is in Anapolis, about 30 minutes drive from here. The cost of the translation was R$90. I emailed a photo of my license first and then went to get the translation when it was ready a few days later.
Per Detran's website, I brought my CIE (ID card) and a certified copy, my CPF card and a certified copy, my USA driver's license and a certified copy, the original translation of my license and a certified copy, my most recent set of utility bills and certified copies, and a certified copy of the lease for the house where I live. Although it doesn't specify on their website, they also wanted to see my passport. Fortunately, I brought it "just in case". They made a copy of the passport photo page and also flipped through it. I was not required to surrender my USA driver's license.
The Detran fee to begin the process was R$236,54. I verified all of my documents at Detran the 1st morning, was photographed and fingerprinted, and paid the Detran fee at a nearby Caixa bank. Then I had to call and schedule the 2 required exams. The psychological exam was R$100 and the medical exam was R$90. They were given at 2 different locations in Goiania. I was able to take the psychological exam the 1st afternoon and the medical exam the following morning. Then I had to go to Detran a 2nd time to submit the final paperwork along with proof of payment of the fee and successful passing of the exams.
The exams were not difficult, but the instructions for the 3 part psychological exam were given in Portuguese of which I have very limited understanding. The 1st and 3rd parts had to do with pattern recognition and logical thinking. The 2nd part was repetitive drawing of vertical lines with periodic horizontal lines on command. I had to do the exams without the help of my Brazilian wife, but as the instructor was giving the instructions, he demonstrated what needed to be done using a blackboard. By watching what he did on the blackboard, I was able to understand how to do the psychological exam. Fortunately, the doctor for the medical exam spoke English. The medical exam was a brief interview, followed by the doctor checking my blood pressure and giving me an eye exam (reading the letters on a chart at a distance).
The Detran in Goiania doesn't mail your new license, so I will need to make one final trip in about 15 days to pick it up. Overall, the process wasn't too difficult. However, I wouldn't recommend anyone trying to navigate through all of this without the help of a native Brazilian.