My visit to Kamakura was with American expats who were living in Tokyo at the time. They lived in Japan for several years and, although he took driving instruction and may have even taken the exam, neither of them got a license. We had a great day's visit to the cave shrine, the Kannon, and the Great Buddha, along with a wander along the beach and lunch in Kamakura, just on foot and taking the train from Tokyo. To me, driving would mean isolation from Japanese culture, hassle with parking, tension from driving in a foreign environment on my wrong side, and a lot less enjoyment. I've experienced that in the UK and would always avoid having a car where other transportation is so easily available. OTOH, I've had some great experiences in rural England and Wales that were only possible with a car.

I might think differently if I had the prospect of a longer trip in rural areas of Japan. But I wouldn't want to drive anywhere near Tokyo.