This driver's career included a controversial incident with a Brazilian driver, and they are the only driver to win a championship for a team they are no longer with. Who am I?

1. I have won multiple Formula 1 World Championship titles.
2. My career spanned multiple decades and I raced for various teams.
3. I was known for my aggressive and sometimes controversial driving style.
4. I had famous rivalries with some of the other top drivers of my time.