I'd get tickets for both the Barcelona sights (La Sagrada Familia and Parc Guell) ahead of time to avoid the possibility of a very long wait in a ticket line or conceivably even a sell-out. Advance tickets were recommended when I visited the city in 2016, and it has only become more popular since then.
You shouldn't need to rush to get the tickets; unlike the Alhambra, they do not sell out months in advance. I thought the audioguide at La Sagrada Familia was good, but I can't compare it to a tour since I haven't taken a tour there. I'd allow at least 90 minutes for the visit to be safe if you do NOT want to ascend one of the towers. You'd need to add time for a tower ascent, which I did not do.
I think Parc Guell is the sort of place you can do on your own. How much time to allow there depends on how much wandering you want to do. There's the ticketed area (the "Monumental Zone") and also an area that can be visited without a ticket.
Other places in Barcelona for which advance tickets are pretty necessary if you want to see them: Picasso Museum, Casa Batllo, Casa Mila (La Pedrera), and the Palau de la Musica Catalana. PdlMC requires a tour.
I haven't been to Andalucía recently and cannot provide any input on the cathedrals in Seville and Granada. I'm sure someone else can help you out there.