Miradouro do Portinho da Arrabida gives one of the classic views of the Arrabida coast: pale cliffs, wooded slopes, and water that can look almost Mediterranean on a clear day. It is a natural stop between Setubal and the beaches tucked under the hills.
The viewpoint is best folded into a drive or hike through Arrabida rather than treated as a destination by itself. Parking and road access can be awkward in high season, so start early if you want to continue down to the beaches. Even a short stop explains why this stretch is Setubal's great escape.