a walk in southern spain.

Have you checked out any of the other routes that go through Spain? The Camino forum lists quite a few. If you are on FB, you might want to join the American Pilgrims FB page. With over 10,000 members, it has a ton of information on it and you should be able to find others who have walked similar routes. I haven't read of anyone who uses tour groups. Those are most often Spaniards doing a short walk, like Sarria to Santiago.

https://www.caminodesantiago.me/community/

https://www.facebook.com/groups/AmericanPilgrims/

There are other Camino's in Spain in addition to the best known Camino Francais. One good one you may want to consider begins in Seville and runs generally north, northwest through Salamanca to Santiago.

I have no idea what you encountered on the Camino de Santiago or how similar - Google both GR7 and Via Verdes. These will give you a swathe of Andalucia and I believe your criteria 'walk from hamlet to hamlet staying in inns along the way'.

We stayed at this inn in Benaojan (10 minute train ride from Ronda), last summer and took a day hike. You might want to consider it for a start or for a base. The inn's owner is a hiker and had good suggestions and maps. If you don't have a car, he will pick you up at the train station. Staff was very nice. Dinners were good and were served on a pleasant terrace by the river. There is a pool which was wonderful after a hot hike. We had fun talking to a British couple staying there who were very serious bird watchers. It is not fancy or luxurious, but we really enjoyed our stay there.
http://www.molino4paradas.com/index.php

Karen,

I believe there is a Camino from Seville to Santiago, going through Salamanca. A portion of this would make a good walk.

jack