The Camino de Madrid to Sahagún is an option. Several forum members have walked it recently and have posted. Here is one,
https://www.caminodesantiago.me/community/threads/off-i-go-from-iglesia-santiago.55978/ (heads up, LT walks very long stages). Gronze has a list of many caminos and breaks them into stages. They put 13 for the Madrid. And you could break up the long stage from Cercedilla into Segovia into two with a stop in La Granja. The Camino de Madrid goes through some interesting towns, starts with a nice walk through Madrid and one of the nicest city exits on any camino, has great albergues and is almost all off-road. Might be an option!