This is a place if you want a relaxed holiday. We stayed there with our 2 year old daughter for a few days. We arrived by car, which was quick and easy. Parking easily accessible. Estoril is nicely located between Cascais and Lisbon and a short drive from Sintra. Swimming pool was a bit cold for my taste in March, but my wife enjoyed it. There is everything one might need at location. If something is missing there is a reasonably large supermarket in some 5-7 min walking distance.
We loved our time in Portugal and Anas place contributed a lot to this.