Would be grateful for your guidance:

I'm arriving on JAL from SFO at NRT Terminal 2 landing at16:45.
My elderly aunt is arriving on Air Canada from YYZ at NRT (Terminal 1?) landing at 16:50.

Hoping to catch a flight (booked separately) on JAL from NRT (Terminal 2?) to ITM departing at 18:20.

Is this doable? Is it easy to navigate? Could I book an escort for my elderly aunt to help her navigate the airport easier? Any tips and instructions would be much appreciated.

Once at ITM, we will catch a taxi to Kyoto - our final destination.
(Another alternative would be to book a Jetstar flight to KIX at 19:45 departing from Terminal 3.)

Would also appreciate a recommendation on a car service to pre-order upon arrival in Japan to whisk us to our Kyoto hotel.

Thanks!