Went on a Wednesday at around 9:30, lots of space available just a 5 minute walk from the parking on the road.
One of the three beaches has stairs that lead down from the cliffs, however there isn’t much space in that first ‘buco’, but you can access the second beach (much more space) either from walking along the cove in the water from that first beach (you’ll need to have your bags on your shoulder or above your head), or take a more difficult route down directly from the cliffs (would not recommend with children).