I was recently in Arcos de la Frontera and saw everything in 2 hours.
You have to go through Jerez from Arcos if you want to see the other cities. Go to ViaMichelin for drive times and maps.
Arcos is linked to Jerez and other places by good roads. The modern dual carriageway road running from Arcos to Jerez means you can drive in comfort in under 20 minutes. Alternatively, Arcos is linked to Jerez and other places by buses.
Another good thing with Arcos is that you are closer to the wonderful inland scenery - for example its easy to drive over to Ronda and use a different route going & coming. Maybe via Grazalema. Visit the other 'pueblos blancos' such as Zahara de la Sierra and see the majestic hills in the area.
Arcos itself has several good hotels including the Parador. To appreciate the town, you need to wander through the narrow roads and alleys in the old part and make your way to the far side called Barrio Bajo through the Matrera Gate that was once marking the entry from the south. You can always take the local town bus to return to the busier town part at Plaza Espana.
Jerez de la Frontera, Sanlucar de Barrameda, and El Puerto de Santa Maria mark the corners of the famous Sherry Triangle. Each town boasts Bodegas and will be of much interest to the wine enthusiast. Jerez has grown a lot in recent years and a new eastern bypass was completed to relieve the traffic. It has a town or rather city feel to it whereas Arcos is still very much a country town.
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