We went to Ceuta around 30 yrs ago on an organised day trip from Torremolinos.
Back then it was about a 12hr return journey, by the time we got there we just had time to grab some lunch before everything closed for the siesta. We then spent 3hrs sitting in a park before it was time to get the ferry back to Spain.
Not one of our best days out.
We called in at Tarifa a couple of yrs ago at Easter on our way back from spending a few days at Zahara de los atunes and spent an hour driving around looking for a parking place before giving up and continuing on to Estepona