It is a very common thing to do, takes about a week of paperwork and a friend that did it recently paid $1000 USD all in. It's important to note it will be a lot more expensive if your vehicle does not fit inside a 20 foot shipping container (or a 40 foot high cube if you share with someone else).
Note: It's the door height you need to check, which is lower than the actual container height.
I heard a rumour that before the 2014 soccer world cup in Brazil, the Brazilian government said they would pay for the road to be built if someone would step up and build it. Obviously it never happened (For context Brazil built a TON of roads through the jungle and what-not in the lead up to the world cup)
[1] http://theroadchoseme.com/shipping-across-the-darien-gap-pt-...
http://theroadchoseme.com/shipping-across-the-darien-gap-pt-...