This traverse from Agulhinha Peak to Baiano Peak is not for beginners. While a guide is not mandatory, there is no easy trail, so you may want to consider hiring a guide for the route.
For this traverse, you'll hike along the high-altitude fields, just keeping Baiano Peak in front of you. There are many sections of scrambling, and if you are afraid of heights, you'll have trouble. All along the top, you'll enjoy views of the entire Caraça Mountain range.