My tip“Daytime heat is high in summer and nights are very cold in winter, so choose a van with heating. Madrid, Valladolid and Salamanca have ZBE zones, and use the Park4night and Caramaps apps to find the free service areas scattered across Castilian villages.”
From Madrid through Segovia, the Mudéjar Castillo de Coca, Peñafiel and Peñaranda de Duero, the Castillo de la Mota in Medina del Campo, then Ávila and Salamanca: 5–7 days and about 600–700 km, passing the castles of the Duero line, which was a frontier between Muslims and the Christian kingdoms.
Its location on our map is being checked