Here are some of my thoughts.
I have traveled frequently to Spain in the past few years. Never experienced any difficulty in a restaurant with the language as there is at least one staff person who can speak the language fairly well. Sign language with the hands will work also!
Madrid...the side walk cafes are usually good, especially when not in the main tourist area..Plaza de Sol, Plaza Mayor, etc. where they run higher in the price. The cafes between Park Retrio and the Plaza Cibeles are shaded by trees and offer a good buy. Have eaten in several of these and been satisfied each time. The Prado has a good café on the main floor near the book store. It is good, but not as inexpensive or good as the ones outside. Also, if you are at the Royal Place, do eat in one of the outside cafes in Plaza Oriente, directly across from the Palace. The prices are reasonable and the service and view outstanding at lunch. One of my favorite places.
Tapas bars can be touristy. I recommend Canadid, in Salamanca, near La Princessa Hospital. Upscale, white table cloths, etc., but according to a friend who lives there "The best tapas bar in Madrid!" I ate there and agree. Remember, a tapas was originally a covering for a glass of wine. They are not huge, but two or three and a glass of wine will be filling.
For a special lunch time treat, Hotel Valesquez in Salamana is impressive. The Menu de dia is reasonable, the white tablecloths, waiters, etc will be impressive. Not as cheap as a sidewalk café, but definitely great for one special lunch.
Restrooms in Restaurants and Bars: They are usually either in the basement or on the second floor...stairs will be involved. Ask for directions...the stairs are often behind the bar even.
Menu del dia will be the best buy...general in the rage of 10 - 15 euros depending on the location. Do not vary from the menu offering, but there will be a good selection.
Restaurantes Casa Aurelio, Sinagoga, 1, Sinagoga, 6, Plaza del Ayuntamiento, 8, 45001 Toledo.
Tel: 9126.96.36.199 / 9188.8.131.52 / 9184.108.40.206 There are three of these establishments. I have only eaten in this one...In the downstairs of the building, very authentic in décor and excellent food. Servings are large as in most Spanish restaurants.
Another restaurant is just of Plaza Zodocover. I do nor remember the name, but the location is easy to find. As you stand in the Plaza, took for the keystone arch...the only one. Descend the stairs past Don Quiote/Cervantes statue and turn to your right on that street. It will dead end directly ahead of you. The restaurant is located there, with tables on the street/sidewalk. Adjacent to the restaurant around the corner is the museum. Very worth while to see. Up the hill from the restaurant is the Military Museum in the Alcazar. Entrance is from the basement level. Again, well worth seeing.