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Sintra and Picta Travel

Hi. Ay recommendations for a good tour company/guide for Sintra. We'd like a small group or private tour and like history. Suggestions for palaces or estates to not miss. Anyone ever use Picta Travel?

Thanks.

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We used Lisbon Riders on a small group day trip from Lisbon to Sintra and Pena palace so not sure if that is what you meant or you need from Sintra.