Rio de Janeiro has a recently built bypass highway (Arco Metropolitano) which is barely used because it's unsafe, as in there's a high risk of mugging. Truck drivers prefer using highways going through more urbanised areas to keep themselves and their cargo safe.

A good example of how a lack of public safety is bad for urban sprawl. https://g1.globo.com/rj/rio-de-janeiro/noticia/2022/12/07/muita-promessa-e-pouca-entrega-veja-como-arco-metropolitano-passou-de-solucao-de-trafego-para-rota-fantasma-e-perigosa.ghtml

It's an interesting contrast with the US, where suburbs tend to be safer than inner cities. But that's an issue of racism and local authorities willingly abandoning areas which are majority black.

The same happens in Rio, the whiter and richer South (by the ocean beaches) is more heavily policed than comparable urban areas with poorer residents.

But still, those poor urban neighbourhoods are easier to patrol than endless sprawl or outright rural areas.