The bus fare in May 2023 for the 434 bus that takes you around to the Pena palace is 12.50 euro! This is almost as much as the cost of the palace entrance and more than the seniors/youth entrance. Although they say this is a hop on hop off fare, you can spend quite a few hours at the palace alone and only use the bus again for the return trip. I suppose if you catch an earlier train from Lisbon you might be able to see the Moorish Castle as well. I agree with comments that say not to try walking as it was quite a bus ride.
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