Agree on the train idea. Book a hotel at, or near, the station. (Hotel Granvia Kyoto is above the station, not too expensive, clean and very convenient.) Go to Get Your Guide or Tours by Locals and arrange a Gion tour for the evening, and then a seperate short half daytour of several of the shrines and temples that you are interested in for the next day. Be sure to state upfront what your time restrictions are and the need for a guide who will take it easy on your knees. ( Japan guides walk very fast). The hotel will hold your bags while you do the half day tour and you will be right at the station to catch the train back. We did this several years ago and are doing it again at the end of the month. If you want to see Osaka, then just do the train and return late on day one.