I know this reply its very late, but Portuguese with Carla made a really good video on this in Jan 2021 (link here). She gives step-by-step instructions for English-speakers, and she includes a little animation that shows what what parts of the mouth are moving, where the tongue is relative to the teeth, etc. when you pronounce the various R sounds in Portuguese. She gives examples using American, English, and Scottish accents. Hopefully this will help people who are still struggling with the Portuguese Rs!
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