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Itinerary help - Sintra, Nazare, Obidos and Coimbra

We are group of 4, adventurous 60 year old, first timers to Portugal. We are landing in Lisbon on Sunday, Sept. 22 and want to visit/explore to Sintra, Nazare, Obidos and Coimbra before getting to Arraiolos to start a bike tour on Thursday., Sept. 26. Our hope was to have a home base for 4 nights so we don't have to deal with packing/unpacking and hauling luggage on tours.
What would be the most efficient way of doing this? Car rental, train, mixture of both?
Where would the best home base spot be, or is this even doable?
Are we missing things in the area?
Any advice would be appreciated.

Current plan:
Sunday - Land in Lisbon and take train to Sintra
Monday - explore Sintra
Tues & Wed - explore Nazare, Obidos and Coimbra
Thursday - get to Arraiolos before 6 p.m.

*Note - We are skipping Lisbon on purpose - we are spending time in Porto later in the trip instead.

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