I find it difficult to know when to use “para”. For example, the expression
Nós fomos a Sintra visitar o palácio.
was recently used in a lesson, which translates to
We went to Sintra to visit the palace.
Another phrase I’ve come across in an earlier lesson is
Eles vieram para Portugal para viajar.
This translates to
They came to Portugal to travel.
So I have to wonder why “to travel” is “para viajar” whereas “to visit” is just “viajar” with no “para” preceding the verb. Would it be grammatically incorrect to include it?
Here’s another example:
Ela foi cedo para a praia.
She went to the beach early.
Nós fomos à praia.
We went to the beach.
Why is para used in the first case but not the second?