In this context, Lula works to avoid an escalation between Venezuela and Guyana. The Brazilian president sent his main foreign policy advisor and de facto foreign minister, Celso Amorim, to Caracas to talk with Maduro.
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The likelihood of a Venezuelan incursion into the disputed Essequibo territory is relatively low at the moment, but it is still dreadfully present. And to answer the question: no, Guyana should not fear a Venezuelan incursion, but it should nevertheless be prepared it.