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Quelez to Pena Palace and back to Lisbon within 5 hours?

We are going to get a taxi at 12:30 from the Palace at Quelez (we are with a group to that point) up to Pena Palace in Sintra. Should we taxi all the way back to Lisbon in order to be in Lisbon by 5:30? Or could we finish at the Pena Palace, skipping other Sintra sights, in time to get a train from Sintra to Lisbon and arrive Lisbon around 5:30?

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I can’t imagine being able to get from Queluz to Pena, see Pena and then make it to Lisbon by 5:30. Even if you take a taxi. The roads in Sintra are narrow and there is a lot of traffic. Pena is up a big hill with very narrow, winding roads, then you aren’t dropped off in the taxi right by the Palace.
You might be able to do it, but IMO, it wouldn’t do it justice due to the time restraints.
And, before you consider it, you might want to get an estimate of the taxi rate.

There are other sites in Sintra that are easier to access than Pena. Quinta da Reguleira is pretty amazing. You might want to consider doing it instead of Pena with your limited time.