Excuse me, what procedures do I need to cross the border from Spain to Portugal by car, and are there any fees ?

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There should be a place to handle procedures when crossing, but I didn't do it because I thought it was troublesome, the consequence is that I have to queue up to pay, the toll in Portugal is relatively high, and the toll for entering and exiting Lisbon for about 40 euros. Also, the oil in Portugal is expensive, so be sure to fill up in Spain.