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Cantabria, Asturias, Galacia - Itinerary help please

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We are a couple in our mid-60’s planning to spend 3+ weeks touring Cantabria, Asturias, and Galicia, starting and ending in Madrid. We will have a rental car and enjoy drives in scenic areas but are not hikers. I’d appreciate input on the planned itinerary to see if 1) we’ve left something special off the trip, and 2) are we not leaving sufficient time to do any sights on our heavily driving days. All suggestions and comments on things to do, see, or eat in the places we are planning to visit are appreciated.

Day 1 - Arrive Madrid, drive to Burgos
Day 2 - Visit Burgos
Day 3 - Drive to Bilbao with a stop in Guernica
Day 4 - Bilbao
Day 5 - Drive to Santander
Day 6 - Drive to Puernte Viesgo for cave visits, Santillana del Mar for evening and sleep
Day 7 - Drivie to Fuente De for the cable car, lunch in Potes, down to Comillas for evening and sleep
Day 8 - Head west toward Gijon, stopping at Ribadesella for the Cueva de Tito Bustillo and Cuevona de Cuevas, Gijon for lunch and the Museo de Pueblo Asurias. Drive to Oviedo for sleep
Day 9 - Oveido
Day 10 - Day trip to Castro de Coana. Oviedo for sleep
Day 11 - drive to Leon = what to see along the way?
Day 12 - Leon
Day 13 - Drive to Astorgo for Palacio Episcopal and Ponferrada for the Castillo de los Templarios. On to Lugo for evening and sleep
Day 14 - walk around walls of Lugo and then on to a Coruna for the rest of day (has anyone ever visited the apartment of Picasso?) Drive to Santiago de Compostela for sleep
Day 15 - Day trip to drive the loop to Finesterra Santiago for sleep
Day 16 - Santiago de Compostela - Mass at 7:30 pm
Day 17 - Driving Day - Pontevedra, Vigo, Baiona. We have reservations at the parador in Baiona but I’ve heard that Pontevedra is a lovely city. Should we just do Pontevedra and make arrangements to spend night there? or spend the day in Pontevedra and go to Baiona for evening and sleep as planned?
Day 18 - Drive to Salamanca, stopping in Orense
Day 19 - Salamanca
Day 20 - Drive to Segovia, stopping Avila
Day 21 - Drive from Segovia to Madrid and drop rental car
Day 22 -23 - Madrid (We’ve been to Madrid before and seen the Palacio Real, the Prado, Thiessen, Reina Sophia, Retiro Park, etc. What are some other less well known things to see?)

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