DH & I
finally went to Ipanema about 6 weeks ago. His review? "Let's come here every week!". LOL (I wish!).
As others mentioned, don't fill up on sides even though they have a glorious salad bar that could be a meal in itself. We're not talking your average salad bar here, but piles of chilled shrimp, genoa salami & imported meats & cheeses, fresh asparagus vineagrette, etc., etc.)
Originally thought the "hot" sides were kinda meager (mashed potatoes & mushroom gravy, rice, black beans and a sun-dried tomato pasta.) Then I slapped myself for even wasting time on them because MEAT is the *star*.

Even by alternating choices between the two of us (& sharing a taste) we couldn't try everything.
I will caution you that it appeared most of the beef seemed on the rare side -but as that is our preference, the "gauchos" may have catered to that.

Beef, lamb, pork, chicken...all were melt in your mouth!
Can't comment on dessert...I had plans, but the spirit was unwilling!
All in all, it was a FUN, yet relaxing meal. Good choice on your part & I hope ya'll enjoy yourselves as much as we did.