To Drive or Not to Drive in Portugal?

I'm starting to plan a Portugal trip for next year, and I'm stuck on the whole transportation issue. Part of me wants to rent a car for the freedom, but I've heard some wild stories about driving there, such as a Reddit thread from a few years back where expats shared experiences and advice: https://www.reddit.com/r/PortugalExp...g_in_portugal/

The discussions left me questioning if road conditions and driver behavior are really as challenging as depicted. I'm quite torn, as renting would allow greater flexibility to explore coastal roads and secluded villages off the beaten path. However, relying on trains and buses could spare me potential hassles.

For those who have personally traveled through Portugal by vehicle, I'd appreciate any insights or anecdotes you may care to share. In particular, perspectives on what the driving environment is truly like from a safety and navigational standpoint would be most helpful as I weigh my transportation options. Any tips for navigating Portuguese roads with ease would also be welcomed.