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If you continue East a little more, nearing the last white bridge and opposite the beach there are a few empty fields, again between the lower road and the town above. Locals pass through these fields, but it would be easy to spend the night without being bothered.
Another good option is to pitch a tent or just sleep in the bushes in the biggest park of Porto - Parque de Cidade. It's located quite far from the center, but in a very nice area near the ocean. Park is huge and there are a lot of good places with bushes and trees for a tent. In the center of this park there is a large public WC which has free hot showers. It is a large round concrete building with ivy growing all around it, you can't miss it! Only open during the day. There is good transport connection with the city center, or just follow Avenida da Boavista, it takes 60-80 minutes on foot from the center..
Camping