Scenic drive from Madrd

If heading to Segovia you could drive through some mountains if you take the back road. From the airport head towards Colmenar Viejo, then Navacerrada, then Real Sitio de San Ildefonso. From there Segovia is a 21 minutes drive. That route will take you through the mountains, is a two-lane road, and a slow drive if you get behind a truck. It is a pretty drive once away from Madrid. In Real Sitio de San Ildefonso there is a palace that doesn’t take long to see, and its gardens. We spent a couple nights at the Parador there a couple years ago and the drive to the airport took and hour.

There’s little of interest between Madrid and Ávila or Toledo with respect to mountains or water. Half of the drive from Madrid is just getting out of Madrid and the suburbs.

Thank you.
Sounds like Toledo and Avila,maybe train is the way to go

Not sure how long your trip is. Ávila only takes a couple hours to visit and with some mobility issues, probably less since you may not want to walk the wall. A good view of the town is from the 4 posts overlook and it’s a half mile from the wall.

The distances between Segovia, Ávila, and Toledo are not that far. If you had the time and were going to rent a car, consider making a loop; Madrid airport - Toledo - Ávila - Segovia - Madrid (or reverse). You could spend a couple nights in each Toledo and Segovia, and one night in Ávila. With some limitations you could take your time getting around each town and really see them. You also wouldn’t have to keep going back to Madrid to catch the train.

Intend to stay in madrid,use it as a base.
We like to travel that way.
As far as walls in Avila,can you get up by ramp,or is it only stairs?

There were a few places to access the walls. We went to the Puerta de Carmen entrance and it was steps. We exited by the cathedral and I believe it too was steps, but I wasn’t looking for a ramp or elevator. I believe the Access Bridge of Ávila Walls at C. Marqués de Santo Domingo, 34 has at least a ramp. Once on the wall there were no stairs unless you want to go into one of the towers.

That woud work

If you go north you might like Buitrago del Lozoya. It is about 1 hour from Madrid, in the the mountains. It still has some walls, and a the remains of a castle. The town is on a reservoir and there are several other in the area. You don't say when you are going but if it is hot, there can be a lot of traffic and tourist in the area.

Segovia is also nice. It may be too formal, but the Granja de San Ildefonso might be something you'd like. There are some gardens that you can stroll around.

Another vote for Segovia, Ávila, and Toledo. Especially Toledo. Parking may be a problem in all those cities.
There is a great view of Toledo on the opposite side of the river that runs close to the city. Try to find it and take some great photos.
You need a full day in Toledo, but may be able to do Segovia and Avila on the same day.

I don't intend to do them in 1 day.
We are at a go leisurely phase of life.
Day in madrid,alternating with day trip and so on

We also wonder about navigation of the towns when we get there,as my wife has bad knees,and sometimes has issues getting on mdes of transport such as tour buses,unless they have low or kneeling first steps

I’d suggest taking a taxi from the train stations into town.

In Ávila, take a taxi to the Plaza Del Catedral. It’s at the cathedral and one of the wall access points. The center of Ávila is fairly level.

In Toledo, take a taxi to Zocodover plaza. It’s the main plaza in town and at the top of the hill. Although not completely level, there are no steep inclines over to the cathedral and town hall plaza.

For Segovia, take a taxi to the Alcázar assuming you plan to visit it. From it you can walk downhill to the aqueduct, main plaza, and the heart of the town.