Yes, definitely. We just wandered around and went into whatever we thought looked interesting. Parking your vehicle will be the hardest part and even that looked ok but would recommend starting about 9/9.30am. Do go to Sintra and if possible stay up there. Traffic up there is diabolical from approx 9.30 until 4.30 so much better to stay and get around via tuk tuk. This was much better than the bus.