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I'm trying to construct the history of the river. There seems to be a lot of early exploration on the Xingu, and the Madeira has bandeirante voyagers. I can't find much about the Tapajós, though (except the account by Henri Coudreau). It seems like the Tapajós would have been relatively easy to access from the early settlement of Cuiabá. And surely, the indigenous peoples had their waterways there.

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