Moderate hikes in white hill towns of Andalucia

Found this link titles 10 Best Hikes in Grazalema. The same site has trails for Ronda. Another Ronda hikes link.

In addition to looking at AllTrails as mentioned above, you could try Wikiloc which is a similar gpx tracks app that originated in Spain. Here's a map that you can filter for your desired trail length and elevation gain. Zoom in to see hundreds of tracks for your four sites. Open the tracks in Chrome for auto-translation. Our journal has some hikes we've enjoyed around Ronda and Frigiliana.

If you’re not afraid of heights, I would highly recommend Caminito del Rey. It is spectacular and meets your requirements. As a UNESCO sight, the hike includes a guide, hard hat and a shuttle bus from the end to the beginning. Information can be found at caminitodelrey.info.

I second the recommendation for El Caminito del Rey! My husband and I, mid-seventies, did the walk last September and it was a highlight of our Andalucia trip. We walked on our own, no guide, and it was awesome. Be sure to reserve ahead. Enjoy!

The caminito will be on our list! Thanks.
Does the shuttle leave and return to Malaga or is there another way to access the trailhead? I found it hard to figure that from the website. We will probably walk without a guide.

When you go to the official El Caminito del Rey website to purchase tickets you will find directions to the Visitor Reception Center where you can park and board a shuttle to the trail entrance: https://www.caminitodelrey.info/en/your-visit/location-and-hours-crv
We missed the entrance to the parking lot so watch carefully as you approach. Otherwise it was an easy, early morning drive from Malaga.