Visiting for a day trip next week and am trying to come up with a plan.

Will probably drive, so any advice re parking is welcome. I don’t know how much time we will need. I’m looking at booking skip the line tickets for the Pena Palace and gardens, but think Quinta da Regaleira looks good too and wonder whether that would be a better option.

Apart from that, I guess just have a wander around. What are the distances like from the centre of Sintra to the two places I’ve mentioned? Walking or driving distance?

Complicating factor is that my ASD son doesn’t have a whole lot of patience, so we can’t do anything too complicated.

Thanks