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Madrid is a city of museums, there are dozens of them in Madrid. It is impossible to fully see all of them.
The main museums are Prado, Reina Sofia, and Thyssen Bornemisza. They can be visited individually or with all in one ticket called the Art Walk Pass (Paseo del Arte).
Like any major city Madrid museums are also visited with a combined pass. You should decide if the Madrid Card or Museum Pass is good for you.