GUARÁ was developed from the chassis of the German off-road vehicle UNIMOG 4000, whose platform met some important requirements, such as the ability of high-speed roads (97 km/h) and to go over various terrains, to be transported by rotary and fixed-wing aircraft, maintaining a radius of 600 km, easy maintenance and good logistic dependence, low ground pressure, great tactical mobility and the option to be equipped with additional armor, a spacious interior and yet to have a relatively light weight of 7650 kg in standard configuration.

Several versions were planned, of which the most significant were: Command Post, anti-tank equipped with missiles and radar, forward reconnaissance, mortar carrier, Ambulance, UNO etc.. On April 16, 2002, the IPD (Institute for Research and Development Army) introduced the Brazilian designed prototype of the newest Light Armored Reconnaissance 4x4 Car, designated AV-VB4 RE and christened GUARÁ—a species of wolf inhabiting different regions of Brazil.

The project aims to meet the new family of wheeled armored vehicle to equip the Brazilian Army,[1] who will attend a future selection for armored vehicles categories in 4×4 and 6×6 or 8×8 still no date set to begin, shows the capacity of the Industry that through partnerships with research centers and product development can generate a viable, reliable and great national participation, created between a private company and a government research body without generating any cost to the latter, common in past, but little understood and disseminated.

Have as standard equipment: air conditioning system, thermal and acoustic insulation, heating and defogging; renewal system with air filtration, security lock starter; autopilot; toroid for driving with flat tire, gun hatch, antenna installation, directional lamp for reading maps; loophole / viewers, adjustable seats with three-point retractable seat belts, tool kit with flashlight, first-aid kit, hydraulic jack, two 20 liter canisters, rope winch, auxiliary air outlet, a fire extinguisher with external triggering; inclinometer; smoke grenade launcher, storage for machine gun ammunition and manuals.

The Guará was developed through a partnership between the IPD/SCT (Institute for Research and Development/Department of Science and Technology) and Avibrás, a survivor of the "golden period" of the production of military vehicles "Made in Brazil" between the 70s and early 90s.