Is the word limpar the same in Brazilian and European Portuguese?

No

While the meaning and spelling of "limpar" are identical in both dialects, there are differences in typical usage and grammar regarding continuous actions. In Brazil, the gerund is used to express an ongoing action (e.g., limpando), whereas in Portugal, the preposition "a" followed by the infinitive is the standard (e.g., a limpar). Additionally, there is a difference in pronunciation; Brazilian Portuguese features more open vowels, while Continental Portuguese is characterized by much heavier vowel reduction (vowels often become "swallowed" or nearly silent).

Brazilian Portuguese

1. Eu estou limpando a cozinha agora. (I am cleaning the kitchen now.)
2. Você pode limpar a mesa para mim? (Can you clean the table for me?)
3. Preciso limpar a sujeira do chão. (I need to clean the dirt off the floor.)
4. Ela está limpando os vidros da janela. (She is cleaning the window panes.)
5. Vou limpar o meu quarto no fim de semana. (I am going to clean my room on the weekend.)

European Portuguese

1. Eu estou a limpar a cozinha agora. (I am cleaning the kitchen now.)
2. Podes limpar a mesa para mim? (Can you clean the table for me?)
3. Preciso limpar a sujidade do chão. (I need to clean the dirt off the floor.)
4. Ela está a limpar os vidros da janela. (She is cleaning the window panes.)
5. Vou limpar o meu quarto no fim de semana. (I am going to clean my room on the weekend.)