Passaredo use Terminal 1 at Guarulhos & SAA use Terminal 3. In my experience, luggage is usually pretty quick at Terminal 1 because it's such a small terminal. You could help yourself out by talking to the Passaredo staff at RAO and try & get your bag as close to last on board as possible, so it'll come off first at GRU.
If SAA allow check-in up to 1 hour before, I think you'll make it. You may need to grab a taxi from Terminal 1 to get to Terminal 3, depending on how you're doing timewise.