Several years ago we spent a week in Nerja near Malaga.We based ourselves there which is a lovely town even better as it was Xmas so out of season and very quiet.
The only night we did stay away was when we drove to Sevilla via Gibraltar. Another day was spent going to Grenada driving over the mountains. Personally I would try and avoid the main coast road if you are planning on going in peak season....it got a bit frantic when we were there so it must be crazy in summer.