Would you consider camping in town? We are right near the market. Use the market loos for black and fresh water, no problem. It's been really great here.
There was over 35 vans here at the weekend. About half a dozen now. Really convenient for the town. It's lovely and a shame to miss it. Covered food market open every day except Mondays I think.
Motorhomes overnight on a car park overlooking the sea at Porto Covo.
There are two sites in the centre of Vila Nova de Milfontes that are OK and not too far from the beach and motorhomes overnight on the other side of the Estuary of the Rio Mira, this view is towards Milfontes from this side;
There are several overnighting spots on the coast southwards, this is one at Praia de Odeceixe:
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