The shortest way out by car is via Juerana village. However, the map shows this stretch of 70km as being asphalt. The truth is something else. You will probably find 3km of asphalt at best. The rest is a tremendous offroad experience and the 70km becomes 300km, as you cannot develop speed unless you're driving an SUV.
If you, however, want some offroad experience, then it may be worth your while. Just ensure your car is in good shape or you're driving with someone else in case of a breakdown.
Otherwise, you should head straight to Teixeira de Freitas and get onto BR101 which is in bad state, but drivable. Be careful of potholes and "craters" on BR101.
by car
To the north by car, BR101 North will take you to some other beautiful and sought-after spots such as Ilhéus, Porto Seguro, Morro de São Paulo and Salvador. All these cities are within the state of Bahia.
To the south on BR101, your first stop should be São Matheus, in the state of EspÃrito Santo. This is a a great place to visit with beautiful beaches. Make a special effort to go to Guriri.