We've never been to Aranjuez. Any input? Is it worth an overnight or simply a stopover en route to somewhere else? --CC

Carole you can do a circular trip from Madrid
to Aranjuez (morning) and Chinchon in the afternoon.
Aranjuez has a nice royal palace and nice gardens
you can see it (approximately four hours)
There is a Parador de turismo in Chinchon.
ABP