Driving from Faro to Sagres - recommendation for a short stop along the way?

We will be driving from Faro to Sagres next week. Google Maps says it will take 1.5-2 hours. Wondering if anyone has recommendations for a good beach or town to stop in along the way? We will probably go to Benagil one day from Sagres, so maybe something before Benagil that you think is a must see for first timers to Algarve (and Portugal). Thank you!