Comprehensive Recommendation
For your journey from Rio de Janeiro to Antonina do Norte, it is recommended to fly for efficiency, taking about 6 hours and 30 minutes including layovers. This would not only save you significant travel time but also provide a more comfortable experience. LATAM Airlines and Gol Linhas Aéreas are reputable choices with good customer feedback.
If you prefer a scenic route, travelling by bus may be an option, albeit a lengthy one, taking around 30 hours. Choose a reputable bus company such as Viação Itapemirim or Viação Gontijo and consider travelling overnight. However, the bus journey will cover more distance and can be strenuous.
Ultimately, flying is the best option here unless you wish to explore the sights along the way by choosing the bus.