Osaka and Kyoto

Our group of 6 adults and 2 kids (below 6 years) will spent a total of 7 days/nights between Osaka/Kyoto.
Itinerary as follow :

15th June Arrive Kansai Airport at 21.30 and stay over in Hotel at Kansai International Airport.
16th June Travel to Kyoto by JR Haruka express train. Check-in hotel and tour around Kyoto,
Furthest will be 1 hour train away. 17h June Spent the day also touring around again not far from Kyoto, also some shopping.
18th June From 10.00 am go to Asashiyama via Sagano Line (JR Sanin Line) and spent the day until late
evenign, then back to Kyoto on the same JR line. 19th June Leave Kyoto around noon to Osaka via JR Haruka express and check into hotel. Spent the rest of
the day around Osaka shopping. 20th June Leave for Nara in the morning and spent the day until around 5pm, then return to Osaka for the rest of
the evening. 21st June Tour around Osaka region using mainly the train network between places. Will not be longer then 45
minutes ride. 22nd June Again morning will tour around Osaka, then around 5pm to Kansai International Airport to leave Japan for
home.

Question :

Is it worth buying the JR pass, and if so which one. Is the Kansai pass good enough for those short trips that we will make.

Is there any suggestion for places within Osaka and Kyoto to tour, especially with 2 kids.

Thanks