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Private guide/small tour for individual traveler (Madrid) ?

Greetings, I'm wondering about small non-touristy walking tours in Madrid. I'm an individual traveler, and 180 euros etc feels somewhat steep. Any experiences with this, or knowledge of individual guides willing to work w joining up individual travels?

This will be for trip early October. Hoping for nothing too touristy. -- Gracias in advance

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I know Nygil Murrell, on of Rick Steve's tour guides for Spain, does walking tours of Madrid on his own too. He has a lot of knowledge plus is a foodie and wine guy. Also he is really nice!! I would recommend him. Here is a link: http://www.madridtandt.com/about/