Would like to utilize a tour company in Madrid for a day tour, suggestions?
Look at Context travel or Tours by Local. We have used both several times and had great guides. Context only used PhDs. Their semi private are a good deal if the dates work for you If they don’t book at least 3 you have the option to pay for a third and get a private tour. We did that for a day trip to Segovia. We also did their day trip to Toledo. Tours by local is only private but the guides have been excellent. Enjoy!
Federico is your guy.....highly recommended. His company is called Spainfred.....and here's a link....
Try a Toledo day trip. Take the Renfe for 15€ round trip and meet one of Rick’s recommend tour guides. I met with Juan Jose (3 hours for 150€). He has lived his entire life in Toledo and is an exceptional guide.