When I was in my late teens a Spanish cousin took me to the maritime/naval museum in Madrid and I didn't have much context for things at the time. Look forward to visiting again at some point.
Although amongst the local clergy perhaps there were some people who could speak Spanish or Latin if any shipwrecked sailors made it ashore.
The short of it is that only 5 can be said for certain to have returned, plus one person that stayed in Ireland under the service of Hugh O’Neill.
The idea seems to be Catholic Irish nobility "such as the O’Rourke or the Mc Clancy" may have helped them, while the English army searched for survivors and killed those who found.
We know what happened to him in amazing detail because he escaped north, to the Hebrides, through Flanders, Dunkirk and eventually back to Spain where he lived out his days.
O'Rourke was executed by the English for harboring survivors
The film Armada 1588 tells that story: https://youtu.be/2LxjGGzjtAE
Every year in September, Spanish Armada Ireland organises an event called Remembering the Armada, to pay tribute to those fallen in that coast: https://youtu.be/xTUwTmjauLg
This year will happen between September 17th and 20th: https://spanisharmadaireland.com/full-programme-2026/