I recommend Manzanares el Real for a one day trip with a walk in a nice countryside and mountains, started/finished with a visit at the castle. The walks to the lake and to the mountains take you 1-3 hours depending on the pace and how much you enjoy the countryside. There is not much to see inside the castle, apart from the amazing views from the towers! I liked that you don't go from one room to another, but you are literally getting lost inside :-) Take the bus no. 724 from Madrid - Plaza de Castilla or parking space right in front of the castle.
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