Advice Best Day Trip from Lisbon: Sintra & Pena?

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Hey everyone! I have limited time in Lisbon and I'm planning a 5-hour day trip to Sintra and Pena Palace, leaving at 8:30 AM. For those who have done this trip, how feasible is it? Any tips on must-see spots or the best way to get there? Also, is there enough time to explore both Sintra and Pena within those 5 hours? I'd love to hear your experiences!
 

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