A Great place to stop is at the village of Mimosa on the old IP 1.
I recommend:
Restaurante S. Sebastião de Mimosa
Mimosa
Tel: 269 595 202
This highway stop is steeped in Portuguese folklore being situated at the Km 150 marker almost half way between Lisbon and the Algarve on the old IP1 main road from Lisbon South.
You can snack here or have a full lunch.
No longer jam packed as most of the traffic now takes the motorway.
Its cheap, cheerful and one eats well.