Rinku-Town is ideal for your first or last night in Japan. "Rinku-Town Station" is the last stop in front of the airport, which can be reached in a few minutes. There are many good hotels to stay in and a huge shopping center right by the Rinku Town Station.
Who z.b. Coming from Kyoto on the "JR Haruka limited express train", travel to Kainsai Airport and then take the subway back to Rinku-Town.