Get Rail pass or not?

Hello
Pls help. I didn’t realize how expensive the rail passes are. there’s 4 in our family (2 adults, one 15 years old and one 12 years old).
I am trying to figure out if it’s worth the money for our stay.

This is our itinerary:
7/12 arrive in Haneda airport
7/12-7/13 two nites in Tokyo
7/14-7/18 five nites in Osaka (plan to do daytrips in Kyoto or Nara)
7/19-7/23 back to Tokyo
7/24 Fly out of Haneda airport

Thank you for your help.