[Rob Dyer]

There’s Let’s Go:
http://www.letsgotaxi.com/eng.html

Of course, Kyoto has it’s ‘Foreigner Friendly Taxi’ service, but I don’t recall them offering accessible cars, but might be worth double checking as it’s local government backed.
https://kyoto.travel/en/info/transportation/taxi.html

I think MK may run some accessible cars too:
https://www.mktaxi-japan.com/taxi