I would like to ask about possible "special" or "off the beaten path" places to visit from Madrid on a day trip. I know about all the usual recommendations such as Segovia, Salamanca, Avila, Toledo, El Escorial, Aranjuez, Alcala, etc.
Is there a relatively "unknown" place to visit near Madrid?. My interests are mainly: History, Art, Cuisine, Scenery, charming towns.
Any opinions and recommendation will be very much appreciated.