Read this...
Possibly do-able by canoe given they weren't in a motor boat for that long. But with all the dangers of remoteness mentioned. Also, possibly squirrels (if trees):
https://www.worldlandtrust.org/news/2007/11/the-really-wild-side-of-paraguay-a-visit-to-the-chaco-pantanal-reserve/...
In Paraguay, access to the river is free to anybody. The land is all owned by someone. If you went to bahia negra you could travel at least some way up on your own. You would probably see quite a bit at the right time of year. Possibly, in that area, it would be easy /OK to find places to camp...
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