They played another friendly in my home town Cologne in 1993 with Germany winning 2-1. Overall Germany mostly lost to Brazil though, they are 5-13 but of course the 7-1 overshadows everything.
I also remember a friendly a few years before the 1998 World Cup as well, with both teams pretty much at full strength, and Ronaldo scoring the winning goal.
Brazil were outrageously lucky to reach that semi-final in 2014 in the first place. During their opening match against Croatia, Neymar should have been sent off for elbowing Modric, their 2nd goal came thanks to a penalty that shouldn't have been awarded, and then Croatia had what would have been an equalising goal wrongly disallowed for a foul. They were very fortunate to top the group, and then unconvincingly scrape past Chile and Colombia. IMO Colombia were the better footballing team, but Brazil continually and cynically fouled them. Thiago Silva picked up a ridiculous and unnecessary yellow card, meaning that he was suspended for the Germany game. He is probably happy he can say that he wasn’t on the pitch for the Mineirazo though.