Many gestures are shared across cultures even without an obvious shared history (e.g. some simulation of an erect penis will mean "f*ck you", which you can do by raising a finger or by raising your forearm) so I bet there are some :)
One gesture I know of which existed in Brazil and Italy is the "fig" sign[0]. AFAICT nobody uses it anymore in Italy, but it goes back to the Etruscans!
Some years ago I came across a nice book (pdf) by some academic cataloguing a bunch of gestures across cultures, but I am failing to find it again ATM :(
I definitely remember seeing wood carvings of that fig sign. I never really knew what it meant and assumed it was an afro-brazilian thing, but sounds like it has european roots, interesting.
I wonder if there are many commonalities between the informal gestures used in Italy and Brazil.