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One night in Porto, two in Lisbon

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Hi. We are doing a Spain/Portugal road trip, and I have the Spain part figured out. In Portugal, we're staying one night in Porto and two in Lisbon, which I know isn't enough in either place. We are the types who like to just walk, walk, walk, although while in Lisbon, I know we need to go to Sintra.

So these are my questions:
What part of Porto would be best for a one-night stay?
What part of Lisbon would be best for a two-night stay?
What is the best way to go from Lisbon to Sintra for a day trip? We will have a car, but driving in European cities is pretty stressful, so it might be better to take public transit.

Thank you for any help!

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