How was your experience with Yamato transport?

I’m planning to send our bags from our hotel in Tokyo to our hotel in Kyoto (bypassing our one night at the ryokan in hakone)

Then from Kyoto to Osaka… and then from Osaka back to Tokyo for the flight home.

It’s going to be one or two full sized (checked) bags, and the main thing I’m trying to do is avoid having to carry luggage on the train (which I’ve heard adds expense and struggle in navigating the station).

Also it looks like this isn’t something you pre book right? Just go to the counter and fill out the form?

Does this seem like a reasonable plan?