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Driving from Lisbon to Madrid

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I will be spending a week or so in the Lisbon area this July, and will then need to deliver a car back to Madrid. My companions and I will actually have several days to get from Lisbon to Madrid. (At least 3 days, possibly up to 6). The drive itself could easily be accomplished in half a day, but we would love to make a true roadtrip out of this. I would love recommendations for any stops/side-trips we could make in the region. We are two young couples who love food, drink, and history. Thank you!

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