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We had a few hours, and didn't see everything by far, but did visit Daibutsu and a small nearby shrine. A full day should let you touch most of the highlights, I think.
I think it depends on how many of the temples of Kita-Kamakura you want to include in your experience. As mentioned above, I saw everything I wanted to see in a long day trip, but I did rule some things out in advance.