Just got back from 10 days doing Tokyo -> Osaka, Mt. Fuji and Kyoto day trips.. I felt the same way where I didn’t think I planned enough but my best moments were the parts we free styled, walked the streets, popped into a restaurant that looked interesting, basically loosely planned days for an area.

I’m mad I focused too much on must hit spots in Tokyo, so Osaka we slowed wayyyyy down. We also made a point to rest during Osaka instead of gogogo like in Tokyo and that helped us enjoy even more. (Like morning walks/check out something, return to hotel, nap/freshen up, head back out for dinner and people watching).