We finally made it to Himeji Castle! It is only around 90 minutes away from Kyoto by train and well worth the trip. Todays grounds of the castle were very large but put that into perspective when you realise that the original complex extended to the JR train station (quite a walk away down the main street)!
The castle itself is beautifully preserved (although some of it has had to been restored) and included areas within the complex that seem to be uniquely kept, such as storehouses. Standing within the walls of the castle, you could really get the sense of how the castle would have been in its past.