We had a lunch here on our way from Extremadura to Madrid. Oropesa is close to the highway A5. You can sea the medieval castle of the Parador from that highway.
The Parador is easy to reach and has a large parking.
The nicely decorated restaurant is on the first floor. The tables at the gallery have an exceptional panoramic view.
For lunch you can take just one plate. Service was kind and had style.
A good halt on the way of Madrid-Barajas airport (at 170 km).