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Hello Lisa, just an advise for those going there. If you have the Andante card for all the Metropolitan area of Porto you can use it on this urban train line till Vila das Aves, so you only have to buy train ticket from Vila das Aves till Guimarães and back, which is 1,80€ one way.
There’s no returning train at 16h20, but you have urban train (to take advantage of the Andante) at 15h53, 17h07 or 18h13 and even later on.