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Fátima Nazaré Óbidos batalha

Help! Should I rent a car while in Lisbon to go to these cities? Day trips only spend about an hour in Óbidos. Is it feasible to drive and see a decent amount of these on my own?

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We used a tour bus (11 hours out, almost) and were glad we did. We rented a car at the end of our Lisbon days, and drove as far as Porto. If you believe you must travel independently with a mighty steel steed, to have a decent visit anywhere, don't use a tour bus.