Cabo da Roca is a real time commitment — fit it in only if it's a priority.
Allow 30–45 min (plus transit).
A bracing, elemental stop: a lighthouse, a stone marker and sheer cliffs dropping to the ocean at the edge of the continent. The honest catch: it's literally just a viewpoint with a kiosk — once you've taken the photo and felt the wind, there's nothing else, and you need a car or to chain buses. Worth it slotted into a Sintra/Cascais loop, not as a standalone trek.