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Peña Palace visit with car

Looking for advice on best approach to visit Palace and Castle de Mouros. We have a rental car. Do we park in Sintra and catch the 434 bus to the sights? A bit of conflicting info online. Trying to estimate timing to buy tickets for specific time slot.

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Didn't have a car, but would find parking in Sintra and take an Uber, cheap fast and about the same price as the bus (there were 2 of us).