Is it safe to walk around Madureira in Rio as a tourist?

I’m going to Rio de Janeiro for the first time and I want more than just staying in Ipanema or Copacabana, because that feels too touristy. I’m really interested in real street life, modern culture, and less touristy neighborhoods like Madureira. I want to experience the city in a more “authentic” way, just walking around during the day and observing daily life.

I’m from the Netherlands, but my mother is from Suriname, so I don’t have a typical tourist look, though I know that doesn’t change everything. I would LOVE to visit Madureira, I saw it when exploring google maps and it looks cool and chaotic (in a positive way.