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Algarve caves near Lagos

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We will be in Lisbon for the month of September. We have several day trips planned in the area but would like to visit the Algarve area and be able to explore the caves, including the Temple between the beaches of Benagil and Senhora da Rocha. This is the you tube video that we saw. We know we can catch a train to Lagos that makes a stop and switch in Tunes. How far is it from Lagos to the area we want to explore? Is there public transportation to and from? Are we better off staying in Lagos or the smaller towns near the beaches? Can we rent a small boat to do the exploring without a tour? Thanks in advance for all your help.