Kochi is a charming coastal city on Shikoku, blending samurai history with vibrant local flavours.

Every stop on this guided tour sits within about 5km of the port and of each other.

The tour opens at Kochi Castle, one of Japan's twelve original surviving castles.

Its intact main tower and Honmaru Palace offer panoramic views of the city and a glimpse into samurai-era life.

From there, continue to Hirome Market, a lively food hall with more than 60 stalls known for katsuo no tataki (seared bonito).

Next, visit the centuries-old Kochi Sunday Market, which stretches roughly a kilometre and features hundreds of stalls selling local produce and crafts.

The tour continues to Harimayabashi, Kochi's iconic red bridge tied to a well-known local love storey.

Then head to Makino Botanical Garden, home to more than 3,000 plant species and dedicated to the 'Father of Japanese Botany.'

The five central stops sit close together, so the public-transport plan covers this walkable route.

The private-vehicle plan covers the same five stops and then adds a sixth: Katsurahama Beach, Kochi's iconic Pacific-coast beach on Urado Bay, about 20–25 minutes' drive south of the city.

The area is home to the 1928 statue of local hero Sakamoto Ryoma, the Katsurahama Aquarium, and the Ryoma Memorial Museum on the site of the former Urado Castle.

This gives private-vehicle travellers a genuinely fuller day, rather than simply a more comfortable version of the same route.

Either way, the itinerary can be adjusted within the tour's allotted time.