My first trip to Fuengirola was Burgos, Madrid, Jaen (overnight 460 miles); Granada, Malaga, Fuengirola (143 miles) That was in the car and that first day was a bit of a killer, with snow ploughs standing by at alternate motorway exits. It is the Route of the Mediterranean!
I returned by Cordoba, Merida, Cacares, Trujillo (overnight - 250 miles with site-seeing breaks); Montfrague (definitely worth seeing), Placencia, Salamanca, Oviedo (interesting tunnels through the mountains), Suances (overnight 400 miles); Santander.
In the van we went Haro, Logrono, Soria (TomTom directed me off the smooth dual carriagewy N111 onto a track through the forest: common sense prevailed), Medinacelli (overnight - 200 miles.) As mentioned Medinacelli has the triple arch which is Spain's emblem for historic sites: it was cold and very windy, being high up. N204, N320 to Cuenca (very interesting city with an aire on a hill at the top of the old town: the traffic lights half-way up do control the main road but I thought they only applied to a minor route joining. Fortunately all we met in the narrow section was a scooterist!), Castillo de Garcimunoz (overnight - 180 miles. Very quiet village with aire adjacent to the castle, overlooking the plains: BASIC facilities!) E903 Chinchilla de MonteAragon (overnight - 70 miles; Very good aire nestling below hilltop village); Murcia (overnight - 100 miles including detour AND driving round the centre of the city several times because I entered incorrect coordinates for the huge aire at IKEA).
We bimbled along the coast to Velez-Malaga (overnight in marina - slightly complex entrance barrier).
Venta de Zafarraya (interesting climb with unexpected "top"), Priego de Cordoba (overnight - 80 miles). Cordoba, Herrera del Duque, Oropesa (overnight - 250 miles: aire beside road with weighbridge opposite and services sunk into edge of pavement); N502 to my favourite view above Cuevas del Valle, Avila (interesting walled city), N403, SG351 to the wonderful Castle de Coca and the surrounding forest, Cuellar, Penafiel (overnight - 170 miles. Campsite: narrowest castle in Spain overlooking wonderful ancient town square which doubles as a bull ring and auditorium - info in TIC); Torquemada (overnight - 40 miles: aire adjacent to church, close to ancient bridge); Fromista (Canal de Castilla, Camino de Santiago), Aguila de Campoo, Reinosa, Cabarceno (overnight - 130 miles: aire at zoo); [along the coast then upto Espinosa de los Monteros; peaceful aire by stream & river]; Bilbao (50 miles).
This may give you some ideas for quick, medium or slow trips. As ever, your choice. Enjoy!