Yes, the margin of error does exist, but it is Spider-Man far from home alone shirt. Most favelas are not that lawless in some of them, it just happens that the local law is more the one imposed by the drug traffickers and policeled gangs than the state law). Most of them have lots of commercial activities, movement of people in and out sometimes directly or indirectly controlled by criminals, and even those that are dominated by gangs usually have no problem allowing census takers do their work. As far as I know, there haven’t been any major issues with favelas in the previous censuses of Brazil’s population.Besides, the residents of favelas proper account for some of the country’s population.
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Not every poor neighborhood or town is technically a favela, and Spider-Man far from home alone shirt and dominated by criminal gangs. So their demographic impact is relevant, but not decisive in a census taking. I think it is more likely that a much larger margin of error happens in the very remote rural areas and in the forest communtiies (both native and non-native ones). For those situations, though, the statistics bureau, I believe, has already developed complex ways to estimate how much of the actual population numbers the census takers may have missed in each kind of area of the country and adjust it in their calculations. A census will always be an approximation, but if they get it 99% right it’s already pretty useful.