7D6N Osaka-Kyoto-Nara-Kobe

We need some advise on 7D6N itinerary planning.
6 of us will arrive at Kansai International Airport, stayed at Hotel Hillarys Osaka for 4 nights then Toyoko Inn Nara for 2 nights.
We plan the following sightseeing Osaka-Osaka Castle, Shinsaibashi & Dotonbori; Kyoto-Kinkakuji, Kiyomizudera, Gion & Ginkakuji; Nara-Nara Park, Kasuga Taisha, Todaiji Temple & Horyuji; Kobe-Meriken Park & Mt. Rokko.
But not sure how to plan the transportation and what best fit the 7 days visit.
Please help to advise, thanks.

I recommend to use prepaid cards to get around. On some particularly busy days you could consider the day passes which are available.

Consult train network maps on how to get around. The following website is helpful to look up routes, travel times and fares:
http://www.hyperdia.com/

About transportation in Osaka:
http://www.japan-guide.com/e/e4006.html

About transportation in Kyoto:
http://www.japan-guide.com/e/e2363.html

About transportation in Nara:
http://www.japan-guide.com/e/e4107.html

About transportation in Kobe:
http://www.japan-guide.com/e/e3554.html

The above pages will also explain how to travel between the cities.

Thank you very much!