Inside Lisbon

My wife and I booked a day tour called Sintra, Cascais and Estoril. There are rave reviews online for Inside Lisbon so I was pretty excited. We had Pedro Pedro (first name is the same as his last name) as our guide and there were about seven people on the tour all together. Pedro was all right. He was able to answer our questions, but I feel as though we didn’t get the greatest information and experience. Most of the information he was telling us was done inside the van when he was driving.
When we got to Pena National Palace in Sintra, he took us around the outside but to be honest it wasn’t too memorable. I don’t remember much of what was said. He didn’t come inside the castle with us so my wife and I actually learned more from following a couple who had hired a private guide. Inside the castle he gave us 45 minutes.
Next, we stopped for an hour and a half for lunch in the city centre. He just dropped us off and we were on our own. An hour and a half is a bit long here.
After lunch, we went to Cabo da Roca… the most western point of continental Europe and where the world ended when people thought the earth was flat. Kind of cool and I enjoyed our time there… until it started down pouring out of no where! Half an hour here.
After that we were shuttled to Cascais and dropped off for about 45 minutes or an hour. We just walked around the beach area but there wasn’t much time to do anything and again, I thought this was a tour. Not a shuttle bus.
The Estoril part of the tour was, «That’s Estoril over there. We’re going to drive through it.» Really? You put Estoril as a highlight and it’s a drive by?
So, in summary there are a lot of awesome reviews on Inside Lisbon for the Sintra/​Cascais tour. I’m not sure if we just didn’t have a great guide or this is how it is. When it says tour, I assumed we get an actual guided tour. This was more like hiring a driver and going to these destinations while they drop you off, wait for you and then pick you up, while giving you a little bit of information along the way.