Just got back from Kansai, did Kyoto Osaka and Nara.

For local travel around these cities, my partner and I just got the ICOCA card which is like our Touch and Go. Basically ICOCA can use anywhere subway and buses except for limited express lines like the Nankai and Haruka which you need to buy physical ticket. Any other subway or railway you can use. No need for special pass and it works well to get to all the places. Easy to top up at any MRT station.

You can get ICOCA at the KIX as soon as you exit the main entrance. You can also prebook which saves processing time. When you leave KIX you can surrender the card and get a refund of balance minus processing fees.