Hello.

Are you already staying in Kyoto?

Regarding traveling from Kyoto to Osaka, it is not necessary to use the Shinkansen or Haruka. You can also go by local train.

Since Shinkansen platforms are located in high places, local trains are often less difficult.

There are also many options depending on where you are staying.

Once we know more about…

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Have a nice trip!

Oh! I wonder why…

hmm

Add me as a contact here and we can send private messages.

There was an old thread mentioning Ido (https://www.ido-support.com/english/rentacar.html) but the result was they only rent to people with Japanese drivers licenses… that might have changed so you could try contacting them. But likely @Tak has the best option.