I'm a fan of Nara, and I have stayed there a couple of times. It's smaller than either Kyoto or Osaka, and all the major sites are within easy walking distance of one another, with the exception of the excavation site of the old imperial palace, just a short train ride away.

If you need to unwind after sightseeing in Kyoto or Osaka, this is a good place to do so.

Transportation options are as follows:

http://www.kate.co.jp/pc/e_time_tabl...a_tt.html#from

http://www.kansai-airport.or.jp/en/o...ess/index.html