Is there a way to get from Nikko to Ōsaka/Nagoya/Kyoto, or does it have to be via Tokyo?

Wanting to do a night in Nikko either on the way to Osaka/Kyoto/Nagoya area from Tokyo or on the way back to Tokyo from the aforementioned, but it seems like there are no direct ways to get from Osaka/Kyoto/Nagoya lines without going all the way to Tokyo, then to Nikko 😭