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Best in Person Access to Cave art near Barcelona or Madrid- not a museum like Altamira museum

I need help finding the easiest way to access one of Spain's many caves with Prehistoric Art inside an actual cave, not a museum.
We are not planning to rent a car, so if possible where can we go by train or bus/cab to get to a cave that is relatively easy to access from the drop-off point. If a car is required, that is an option but we are hoping not to drive in the city too much. We prefer not having a five-mile hike, etc if it's possible. Also preferably a day trip from Madrid or Barcelona. There will be three of us traveling in October 2024.

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