We toured both the imperial palace and the Kyoto Sento Imperial Palace. You can’t go inside either but can tour the gardens
Their are regular guided tours of both and you can also follow the guide route yourself at the imperial palace
The imperial palace is the larger of the two but access to the garden is limited so you essentially see forecourts and entrances with glimpses of the gardens beyond
The Kyoto Sento Imperial Palace on the other hand is a 50 minute guided tour through a very beautiful garden that is amongst the best we have seen in Japan
Don’t be put off by the officials at the gate who will try to direct you to the imperial palace. Register for the tour which is in Japanese but comes with an English audio guide
I been there in a exposition, the place was confortable , good temperature and a loot of organization.
The toilets were clinging recently. Its coneccted whit the museum, that day was free entrance .
I recomended