This is from my new book Classical Guitar Technique: Essential Exercises, Scales, and Arpeggios. The 122 page book includes: Practice Routines, Tips, 100 Open String Exercises, 120 Giuliani Arpeggios, Scales, Slur Exercises, Shifts, Finger Independence, Barre, Tremolo, Common Harmonics, and much more.
Practice these as individual scales and as a continuous exercise that cycles through the circle of 5ths. Use a metronome and become confident switching keys without stopping. The fingering used in this exercise is the same as the fret number in first position (except in A major as indicated). Say the note names out loud as you play.