We will spend days in both cities and would like recommendations for walking tour guides.
Federico is a guide for Rick Steves tours
https://www.ricksteves.com/tours/guides/federico-garcia-barroso
Jorge Ramon, Another Rick Steves guide. I have followed him for a long time. Nice guy, passionate about what he does:
Madrid - Jorge Roman (as posted above - use that link instead of the older one I posted initially.
Jorge co-led my RS Basque Country tour several years ago and in 2021 I enjoyed a private half-day tour of Madrid with him. Great guy!
Toledo - Javier Menor
He scheduled me with one of his colleagues/employees and I had a great private half-day tour of Toledo in 2021 customized to my interests. http://www.theguidingcompany.com/
Thank you everyone. I love walking tours and my niece will learn to love them. :)