If you hold a foreign passport, you can purchase a discounted one way or round trip ticket at the KIX JR ticket office when also purchasing an ICOCA card (which can be used for payment at a variety of stores, not just for transit).
https://www.westjr.co.jp/global/en/ticket/icoca-haruka/
Picture and video map from arrival gates to JR station
https://www.westjr.co.jp/global/en/h...e01.html#image