Let's wait and see. A lot of the criticisms leveled against Brazil were experienced by South Africa 4 or 5 years ago. And then they put on very well-organised World Cup. Big country, far from Europe, inadequate transport, impoverished nation building large stadiums, etc. I have faith that they will pull it off.
That said, there is something wrong with the present FIFA model of a 32 team World Cup. It requires about a dozen top-notch stadia. Really only USA, England and Germany are ready at any one time to host the World Cup. The others who have hosted recently, France, SA, etc are also obviously ready because of the preparations they undertook. Beyond that, no nation can host a World Cup without significant investment, and few of those will be able to adequately use the infrastructure post-World Cup.
FIFA should consider
- smaller World Cups (e.g., 24 teams)
- making the joint bid a normal thing
- reducing the stadium requirements (e.g., 40k seaters). most of your audience is TV-based anyway