There are many places where I would say having a car is almost essential if you want to explore - Tokyo is not really one of them, but if you have the time and money I recommend it purely for the fact that 90% of the interesting, non-tourist-trap locations are far from stations, and trains don't run 24hours a day.
(Those teaching English, or on wages below 4mil/yr should not even bother).
Saying that the trains and buses will get you to just about anywhere you need to go.
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