In Osaka, go to Tsuruhashi and have Yakiniku. Near Tsuruhashi Station, there are hundreds of Yakiniku restaurants. When you get off the train, you'll already smell the delicious savory meat.

I feel that Teppanyaki is not an authentic Japanese food. It was invented by Aoki of Benihana in the US and imported to Japan.

Yakiniku originated in Korea but it's an everyday Japanese food. It's delicious and inexpensive compared to Teppanyaki. It's also fun to grill your own meat. I'm sure your 10 yo would enjoy it.

I noticed that teppanyaki customers are usually foreign tourists or locals doing corporate/adult entertainment.

Exactly. Not many locals go to Teppanyaki just to dine. It's way too expensive for most regular families, too.

Thankyou! Do you know if you can do Yakinaku in Nishiki markets in Kyoto? Or is Nishiki markets just skewer type foods?

There is Minami-daimon at Nishiki Market. I tried to find an English page but I still couldn’ｔ.

I once had lunch there and I think it is good.

https://www.youtube.com/watch?v=RfAsXNeHQiw&t=128s

I can highly recommend Nandaimon on Teramachi Shopping Street near Nishiki:

http://daiichibussan.co.jp/nandaimon-teramachi/

I don't think they are open for lunch though.

Nandaimon at Nishiki is open for lunch.

https://www.kyoto-nishiki.or.jp/en/stores/nandaimon/

It is not exactly a Yakiniku restaurant because you won't grill it yourself, though.

Thanks for all of the replies. Is there a good location in Kyoto to experience Yakiniku for dinner?

https://www.ebisu-toraji.com/en/shop/kyotofu/kyoto/kyoto/