Brasília zoo has free roaming capuchin monkeys, as it is located in a big fragment of cerrado biome. I saw a big group of them close to the big lakes. Belo Horizonte has various species of herons living freely on the fragments of atlantic forest, including whistling herons. Also, free roaming guans and sloths live and breed on the same fragments, even though, despite being large, the zoo territory is entirely surrounded by buildings and avenues, like an island of jungle in the metropolis. Common marmosets and squirrels are, of course, very common too. Not sure if it was mentioned here too, but at Zooparque Itatiba, wild maned wolves have been spotted walking through the visitation area during the night.
Wild animals. Roaming freely on the grounds of respective zoos mentioned. They were never acquired by the institutions, just wild animals that live in these territories.
Home to one of the best pieces of signage I’ve seen: I do like to keep a folder of zoo and other signs as inspiration for designing real ones one day.