Haneda to Kyoto shinkansen book or not

Hi, I'm heading to Japan from Australia (stopping in singapore) on the 23rd September around 9am. We've decided against the JR pass given the price increase. But I'm just wondering if we would be ok to not book tickets in advance for the shinkansen and get them when we arrive. I figure this works better as we can get on the next train to Kyoto rather than waiting cause we're early or missing our booked one due to flight delays. Would this be a good idea with suitcases or should we book? If we should book how long should I give us to clear immigration/customs?

by Penguiner1888

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