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I’m from Madrid and visit every year. Terminal 4S (satellite) is huge.
From my experience traveling back to the States, the gates for US flights are at the very end of Terminal 4S so there will be a fair amount of walking to do plus the terminal train.
The airport signs estimate it will take you about 20min to your gate once you pass the “TSA” check.
The police check point is usually not too bad, but I go through the EU line, which is shorter most of the times.
One more thing to consider is one extra check you’ll have to go through right before getting to your gate.
There is an additional check for US flights.
You just show your US passport and boarding pass, but it’s one more step.
I think it’ll be tight. If your kids are not too young, make them run I’ve done it with mine before.
Enjoy Portugal.
It’s beautiful!