55min Layover in MAD

Hi guys, I am going to fly from Munich over Madrid to San Juan, Puerto Rico in mid december. Our layover in MAD is very short. Only 55mins

Our schedule:

AA8514 MUC to MAD, 3pm landing in MAD at Terminal 4 AA8527 MAD to SJU, 3:55pm takeoff from Terminal 4s

Do you think we can do this? Is there a border control (we are germans traveling in the Schengen-Room)? Do you have some Tips for some time savings?