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I only passed through Osaka in the past. This trip we are planning on at least an evening to gorge ourselves and walk around.
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There's an interesting museum near Osaka castle, I think its called the Peace Museum, but is pretty much the fire bombing museum
Osaka castle had bus loads of the noisyest chinese I've ever run across, you could hear them shouting the whole time there.
Minoh falls outside Osaka, good paved hiking trails, saw a big monkey at the falls, I had no idea they had monkeys around there. The thing clearly had eyes on the cat snack my friend was giving to a stray, it was quite large and the locals there were obviously nervous about it.
Kyoto train museum.
Yamato Museum at Kure.