Don't count on dashcam footage as some magic proof in court - there's a lot of people who think having a recording is enough to win a case, and then they get disappointed. context matters a lot: whether the camera has time and date, whether the video is actually clear, whether there aren't suspicious gaps in the recording... all that weighs in. and here's the annoying part: other drivers' privacy is a murky area in Portugal. technically there's no law that stops you from filming on public roads, but there's also no law that explicitly authorizes you to use it against third parties without their consent.
in practice, many courts accept dashcam footage as a complementary piece of evidence, but not as the sole proof. you need more things: witnesses, photos of the scene, a police report if they were called. and as for filming other cars or bikes without warning them first, the reality is that nobody drives around with signs saying "attention, I'm being filmed" - the law assumes we have reduced privacy on the road, but there are limits. if the camera inside your car records you and accidentally catches other vehicles in a collision, that's acceptable; if you were intentionally filming inside another car or people outside the context of safety, then it gets more questionable.
the truth nobody says is that most judges won't dismiss a dashcam recording just because it exists, but they also won't give it its weight in gold. use it as a complement, save screenshots of the time, the date, the speed if your camera shows it. and if you have a collision, call the police and let them document it - that's worth much more than the video alone.