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Sintra for 3 days - how to fit EVERYTHING in and not be too rushed

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We will be flying into Lisbon from Madeira and will be renting a car at the airport and driving to Sintra where we will spend 3 nights. We will probably arrive in Sintra early afternoon on a Sunday and would like to see the market in Sao Pedro de Sintra (we happen to be there the second Sunday of the month). I'm thinking we could stop there on the way to Sintra. Or should we drop the car at our hotel and walk there? I read it is walkable.

We would also like to take a day trip to see Obidos and Cascais. We would like to include Tomar...would that be doable? Or too far of a drive? so with one day left, will I be able to see everything in Sintra in one day? Castelos dos Mouros, Convento dos capuchos, Quninta daRegaleira....and I haven't even mentioned the two palaces. don't want to visit both... which is the not to miss one? I also want to walk around and maybe do some shopping and not feel rushed.

will I feel rushed with this schedule?

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