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Portugal initial itinerary help

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Hi! This will be our first trip to Portugal and we want to relax and not rush. For example, we went to Italy last year and did 3 nights in Venice, 2 in Cinque Terra, and 3 in Florence. That was relaxed, and left more Italy to do later. We like to eat, and walk in interesting cities. Not into a lot of day trips which take us from, say, our time in Lisbon and Porto.
So we can fly into Lisbon and out of Porto. I have my sights possibly on Aviero, SIntra,and Obides (Guimaraes?) I'd like to spend 3 nights in Lisbon to start. WE DO NOT have to see all the north, and not all of the above cities.
I guess the first question is whether we drive or not. Aviero looks fun. Which of the cities above, other than Lisbon and Porto, are must sees? Beautiful cities where we could spend a night between Lisbon and Porto?
Should we, for example, spend 3-4 nights in Lisbon, then stop for a night in Obides and another in Aviero the on to Porto? Is it easy to do this in trains or do we need to rent a car? How much of a hassle is that--driving, parking, etc? Or should we spend an extra night in Lisbon and do Sintra and/or Obiedes as day trips? We have never done organized tours but is that the way to do the day trips? Thanks!

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