I really want to see (the walled city) Avila so am definitely planning a day trip from Madrid regardless. There looks to be both bus and commuter trains (with stops) that can get us there in about 90 min ea way.
I see that El Escorial is kinda sorta on the way - is it practical to do both (#1 Avila, #2 EE and #3 return Madrid) via bus and get back to Madrid all in one day? Without feeling overly rushed...? Bus tickets can be purchased at station/kiosk on the spot or day of?
I generally like to meander and putter once at a destination like these so I haven't looked at a packaged tour bus day trip option but maybe that's also worth considering?
Thanks,