Firstly I think your trying to do too much in the time permitted. I would also not split Tokyo like you have. I would do Tokyo in first 2.5 days and then Kyoto in the next 2.5 days, if that is how you want to split it. I'm not sure if you have put each thing in order but you are doubling back on yourself for some activities. I would leave Kyoto on your last day around 1600 and go straight through to Narita and stay there on the last night. This would give you more time in Kyoto and also you would be in place for your flight home.

I thought Odaiba was a waste of time but others may differ. It also takes a large chunk of time out of your day. If you are going make sure you check the performance times of the Robot.

Overall you need to cut down and if possible get at least another day for get a trip which isn't too rushed. Or cut out Kyoto this time and concentrate on Tokyo. My TR below might give you some ideas as I visited many of these places over 7 days but without an 8 year old, I don't see much for him in this, he'll soon be sick of temples, etc.