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How to get there The Kumano Kodo is quite a distance from Tokyo (about six hours by various train combinations), so your best bet is to spend the night before in Osaka, and take the ~2-hour train ride from Tennoji Station early in the morning. The start of the main trail is reached by train to Kii-Tanabe (where a helpful visitor center is located), then a bus outside the train station to Takajiri (about 40 minutes).
I've compiled a list of hiking trails for experienced and non-experienced hikers in the different regions of Japan. (75% of Japan is mountainous)