You have two possibilities:
The fastest one is to take the IP8 to Grândola an then you can take the motorway and within an hour (a bit more, probably...) you'll reach Setúbal. Before reaching Setúbal, you'll find Alcácer do Sal and Águas de Moura.
You can make the same "route" off the mw. It'll will take you a bit more time, though. But you'll pass the same locations that i've mentioned.
The funniest way, for me, is going near the coast. Of course it will take you much time (almost 2 hours, or more). From Sines, head towards Vila Nova de Santo André, Melides, Comporta and go to Tróia. When you're in Tróia, catch the ferry boat. The coastline has beautiful desert beaches, it's lovely! The sights from the boat are incdredible because you'll see the Arrábida mountains, it's a paradise. Probably you'll see dolphins too!
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