Raccoon in Guaraní is: Aguara Popé (aɰʷaˈɾa poˈpe) - Lit. it means "Flat handed fox" or could be interpreted as "Washing fox". (Both of these meanings come from the second part "popé" although it literally means flat hand, to lay your hands flat is tied with washing) Since its usually seen washing or carrying things, and its black mask of fur and brown coat loosely reassembling that of a fox.
In spanish its either Mapache, which comes from the ancient Nahuatl root Mapach (ma.pax) - Lit. "Who bears hands" presumedly for its dexterity compared to other similarly sized animals. Or colloquially in certain areas as "Oso lavador" which is translates to "washing bear" due to it's appearance similar to a bear cub.
Both languages, and its etymologies seem to emphatize a core part of the Raccoon's behaviour which is to wash and carry things it scavenges, while the comparison to other animals changes between the coat of their fur and the shape - This can be seen in many languages but observation and previous knowledge is a base on how a language develops
