We transferred through MAD the other week from 4S to 4, our connection time allocated was 55min, we made it in about 40mins with no queue at passport control or security.
That said if you can I would leave longer, it made for a bit of a worry for me but I’m not a seasoned transferee in fact it was only my second ever!
I wasn’t truly relaxed until my bag popped out on to the carousel at the final destination