day trip from Madrid to Toledo

We did Toledo on our own. It is very easy to get there. You can take a train or a bus. It is my understanding, the bus lets you off within walking distance of the old town. We took the train. The train station is beautiful FYI. From the train station I'd recommend an approx 5euro taxi ride to the old town OR ask cab driver to take you to the scenic overlooks across the river before taking you to the old town, approx., 8 euro. If you are wanting a tour guide to take you thru the cathedral or other places, you could probably arrange something there. I'm sorry that I don't have a tour company to recommend.

We also did Toledo on our own. Took the short train ride from Madrid. When we arrived we caught the bus both back and forth to the train station. We arrived about 0930 before the crowds. Spent the morning seeing the attractions, had a leisurely lunch and headed back to Madrid by 3-4 pm. I recall we had a short walk to the Reina Sofia Museum to enjoy the 20th-century art collection. It was a great day!

A half-day tour would seriously short-change Toledo, which has more to see than Madrid unless you are serious art fans.

We spent just a half day at the cathedral. I highly recommend the additional admission to climb the bell tower. The views were incredible. Madrid is lively and pretty, and except for the world class art museums, it doesn't have the history and areas of interest. Toledo is an ancient walled city up on a hill. It is stunning.

We also visited Toledo on our own, in a day, from Madrid. It was in October, so the sun went down earlier than it does much of the year, but we were leaving just about dusk, and we needed the better part of the day. Rick Steves’ book was helpful guiding us around, but if you want a guide, hope you find an arrangement that works for the timing you have in mind.

I agree that it takes more than a day to enjoy Toledo
I think one of the best plan could be what Rick has written in his book on SPAIN.