Hi am going in a family of 4 to Osaka and planning to visit these places Osaka. Kyoto, Kobe and Nara over these days:

Day 1 Arrival in KANSAI at 3pm
Hotel at Umeda area near Osaka Station

Day 2 Osaka full day
Osaka Castle
Namba Shrine
Kuromon Market
Shitennoji Temple / Tennoji Park / Keitakuen Garden
Abeno Harukas Tower
MEGA Don Quijote
Dotonburi

Day 3 - Kyoto full day
Nishiki Market
Gion > Shirakawa / Hanamikoji
Arashiyama Bamboo Forest
Sannenzaka
Fushimi Inari

Day 4 - Kobe full day
Kobe Motomachi / Sanomiya
Rokkosan Mountain view
Kobe Chinatown
Kobe Mosaic City

Day 5 - Nara full day
Deer Park
Naramachi

Day 6 - Osaka full day
Shinsekai / Tsutenkaku
Shinsaibashisuji
and other places in Osaka

Day 7 - fly out from Kansai

Should I use ICOCA for all the daily destinations and purchase separately the Nankai Limited Express round trip tickets from Kansai-Tengachaya -Kansai when we arrive and depart?