Quite a trin journey beyond Madrid but worth it. Well signposted from the station (that seems in the middle of nowhere).
Palace grounds are extensive & beautiful - take food & drink & sit in the grounds. Palace looks stunning in the sunrise & sunset. I would recommend visiting the tourist information within the town to buy your tickets and to collect extra information (and a fabulous markt where you can buy fresh fish, vegetables etc for lunch).
Highlights are the boat museum and the wider gardens. Take a day and plan your visits. We enjoyed sitting on the bridge watching the boats and walking among the beautiful gardens. As with all the royal palaces, there is no indoor photography & some pretty aggressive police to stop you, so pack your camera away before you enter the buildings.
You will have to work hard to find the toilets.... which is why you should start with tourist information who have a very tidy & clean loo for us older folk!More