A little long and boring from Arcos to El Basque. El Basque would be a good place to stop for lunch or a cafe. Then you start the trek up the mountain to Grazalema. There is a beautiful look out just before Grazalema where I usually stop and take a few minutes to recover and appreciate the scenery.
Then you continue through Grazalema and back down. Once past Grazalema it is more rural and you can pick up the pace through. Scenery changes to more of a red rock canyon type towards the end.
Very little police if any, once past Grazalema very few cars, and the roads are in great shape. Not too many blind corners past Grazalema.