[neatoman]

The short answer is just a plain no.

It simply didn't have the budget for it, why do you think you saw the same environments over and over again? Or when they went out in space, they mostly visited empty landscapes, stuck to pre-existing assets or just rendered everything with matte paintings?

A theorethical episode in Brazil would not look good. The jungles would basically just be painted backgrounds, with the out of place North American vegetation taken from previous episodes for the characters to actually interact with. Any buildings would be even worse, remember the Tang Shen scene? Her entire kitchen was rendered with paintings, imagine a whole city.