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Interesting town near Madrid airport

I’m flying in to MAD arriving around 13:00 and flying out the next day at 12:00. I’ve already spent 4 days in old town Madrid. Are there any outlying towns within a reasonable Uber ride worth exploring and staying the night before our return flight? For example we spent an evening in Roissy France before our flight out the next day from CDG. We really enjoyed exploring the town on foot before heading out.

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Alcalá de Henares is slightly less than 30 minutes from the airport and a nice stop. You can get a good feel for it with the time you have.