The ex Liverpool defender thinks his compatriot will have benefitted from four and a half years in the Bundesliga.
The 35-year-old spent six years at Liverpool after joining from Valencia, suffering plenty of injury problems that limited his appearances. However, he can remember how comfortably he adapted from La Liga to the Premier League, as opposed to Lucas Leiva, who joined the Reds from Gremio in Brazil.
The fact Firmino has already settled and impressed in a tougher European division will stand him in good stead at making an instant impression said Aurelio.
"He is used to living in Europe having spent the last few years in Germany," Aurelio told the Liverpool website.
"My own experience was coming from another team in Europe - Valencia. I spent six years there before I joined Liverpool. So it wasn't as difficult.
"Lucas had that problem; when he first arrived at Liverpool, he came straight from Brazil and a very different competition and a different rhythm of game. He suffered a lot in his first two years, then once he adapted to it he became the player we all know.
"But I think Firmino will have an easier way than Lucas and more similar to me, because he is coming from a European team with a few years already there and is used to the weather. He shouldn't have many problems to adapt."
Does Aurelio have a point?
Talented South American players, or indeed any players that come from outside of Europe or an inferior league, often find the step up to the major European division difficult.
It is why so many Brazilians and Argentinians come to Europe via Portugal, where the weather, culture and playing style are similar to South America, but the league standard is not the same as the likes of England, Germany or Spain.
A case in point is Coutinho. When he first arrived at Inter Milan in 2010, it was clear the youngster had plenty of promise, but being so far away from home at his age, he took some time to settle, and in fact never really ended up getting the chance at the San Siro that his ability deserved. When he moved to Liverpool, he had already moved up to a higher level, and was a frustrated player eager to get the chance to impress. Coutinho would have likely struggled if he moved to Anfield from Brazil rather than via Inter.
Likewise, Firmino arrived midseason at Hoffenheim in 2011, and was gradually introduced to first-team football in the Bundesliga. He hit a couple of decent patches of form where Hoffenheim then gave him more football, but it was two and a half years later when the Brazil international really impressed, scoring 22 times in the 2013-14 campaign.
There is every hope that Firmino will move into the Premier League with ease, especially as the Bundesliga is arguably the most similar major division to the English top flight.