Nagato can't see limbo. Why should madara be surprised that Sasuke with rinnegan can see limbo then? Hilarious. That surprise of madara itself proves only some one with "a relationship beyond blood" according to madara himself can see it. In this context, madara and sasuke being indra avatars. There's no way a normal rinnegan can see it. Lack of reading comprehension.
But madara can't use the six paths of pain which are jutsus only nagato and the six paths sage can use according to the data book and the six paths are realms which are accessed by the rinnegan user just like the limbo, just because nagato accessed it with his rinnegan do not mean madara can, the only realm madara accessed is limbo realm, where no one of this world should be capable of seeing the user's other wordly shadows. Stated by madara. no one emphasized here. Madara knew obito with Rinnegan. He saw Sasuke with rinnegan. Yet thought it was impossible for Sasuke to see it. Thus he came to the conclusion, "Sasuke has a relationship greater than blood" with him. This is fact. Chibaku tensei and rinne tensei are rinnegan techniques. The other jutsu are not rinnegan techniques. They are realms accessed by the rinnegan user, like ameno is a space time realm accessed by Sasuke, jigokudo is a realm accessed by Nagato. The ö in jigokudo and limbo, means realm like edö tensei or impure world resurection, ressurecting people from the other specific world.
So six paths are not rinnegan jutsu, rather different realms accessed by the rinnegan user, every user won't get the same realm to access like seen in every rinnegan user's case. Otherwise konan would not say "nagato's rinnegan is a JutsU, which means the other six realms are of it's own type and not a rinnegan granted jutsu; just realms accessed with rinnegan as a medium.
Madara wins the fight with wood release which preta can't absorb, limbo hengoku can't be absorbed, limbo can't be seen with a generic rinnegan, senjutsu gives reflexes which dodged point blank FTG though from a nerfed tobirama, speed and reaction on par with EMS Sasuke who is way above KCM and Killer Bee's reaction or equal to killer bee's cloaked mode reaction, so nagato definitely loses this despite his OP abilities. Shinra tensei is a technique which pushes stationary objects, madara can focus his feet with chakra or if he uses chou shinra tensei, then madara counters with limbo hengoku force, bansho tenin can be reacted to with his rinnegan which sees chakra build up or countered with his physical energy amped body because of hashirama's cells.