What do you mean by kid friendly? I lived in central, urban Tokyo (Minato) for several years and found raising kids was way easier than where we live now (Bay Area). There were several parks within 10m of where we lived and each neighborhood has a community center with a very nice indoor play area for rainy or cold days. I found businesses to be more children friendly than in the US. Several businesses, both large and small, in our area would have well maintained child seats and silverware for children.
The only thing I like better about where we live now is the much higher salary (even with cost of living) and the access to outdoor activities. You'd have to take a train at least an 1.5 hours away to get to larger green spaces in Tokyo. Arguably, this might be more convenient for those that don't like driving but getting several kids ready and babysitting them on a long train ride is a bit difficult.