Well, the new runway in FRA is only for landing, not for taking off. Therefore your flight didn't use that one. And yes, it is somewhat aggravating to taxy that long, but there is no comparison between AMS and FRA there, the frankfurt one is much closer to the terminals and since taxi times are not that bad.
Madrid on the other hand, oh what a mess. That airport is surely one of the worst designed ones served by the most incompetent air traffic control service in europe. The mix is highly dangerous and leads to even longer taxi times than necessary.