We’re driving from England to Spain in the next couple of weeks, with our dog, in a campervan with a view to looking around the southern coastal areas before renting somewhere. We drove round Spain last year and the roads were very good, not much congestion except around the larger towns. We enjoyed driving in Spain.
It would take about 4 and a half hours to get from Madrid to Alicante. Sorry, I don’t know anything about the trains, maybe someone else can help you with that.
When will you arrive in Madrid?