First, that price for 6 people is probably about the best you will find. I do very occasionally see round trip tickets for $550 on sale but not open jaw.
Second, the low prices come with trade offs and only you can decide what’s worth it to you. The cheap ones won’t be cancellable - but you will probably want some form of trip insurance anyway that will cover a loss due to cancelling for health reasons.
Price versus arrival time? You probably won’t have a lot of choice and you can make it work.
You’ve gotten some good food for thought here. I will toss out a few other thoughts.
You could consider a combo of ticket types. Maybe 2 at the higher price (like Mr. É gave you) to allow for 2 combined checked bags and two seat reservations for a parent and the youngest together. That just means you will have 2 locator numbers.
Lufthansa has a pretty strict carry on size and weight policy that you would need to know and abide by. It IS possible to add a checked bag (at additional cost) on the way home, should you need that.
For long layovers: I have actually started doing this occasionally by choice. Sometimes I don’t like my connections without an overnight layover - or I don’t want to get up and be at the airport at dark:thirty. It does add cost that would need to be figured in to your overall budget.
I suspect you could get by with 2 hotel rooms in Madrid. I was just looking for myself last night and came across this website if it helps. https://www.esmadrid.com/en/hotels-close-airport
If you go this route, 1) try for the longest overnight layover possible. Sometimes I will choose a 22 hr one as opposed to a 12 hr one - to not be rushed at my layover and to get a good night’s sleep, not just a few hours. 2) make sure the hotel has a free shuttle that meets your needs. 3) Madrid had some affordable hotel options nearby but it would probably eat up the ticket savings from one person’s cheap ticket.
The 330 day out window is what you need for using miles or points but these days isn’t particularly relevant to using dollars.
Good luck!