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Porto- Nazare -Lisbon: car , parking , beaches

I'm planning a two week Europe trip with part visiting Portugal 5 nights . We arrive in Porto after 11:00 p.m. thr first night , so plan in sleeping near the airport. I'm thinking to spend the next night in Nazare, and the three remaining nights in Lisbon , where we can also day trip by bus to Sintra.
To visit Nazare it seems you'd need a car, but then wouldn't need it once in Lisbon. We are a family of five and used to driving in Europe- and it's often less expensive and more convenient for the five of us.
Should we rent a car in Porto and drive to Nazare, and then onto Lisbon and drop the car?
Also- any suggestions for beaches near Nazare or Lisbon? Is there a better chance place to stay for a beach day between Porto and Lisbon?
Beach day trips from Lisbon? Looking for quiet, clean , uncrowded! It will be the first half of June.
How about Comporta beach?

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