The train is very convenient to visit Lisboa.
To go to Queluz without a car is not so easy, especially if you want to go to the restaurant for dinner. By public transports the simplest is bus from Cascais to Sintra then train from Sintra to Queluz (there's no bus at night); train from Cascais to Lisboa (exit at Cais do Sodré) walk till Rossio train station and get train to Queluz (direction Sintra). I have no idea about the cost of a taxi.
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