Unfortunately,
Inari Station is outside the validity area
of the Haruka discount ticket (Kyoto version, 1600 yen).
You pay 140 yen separately for section Kyoto -- Inari,
which is a part of the Nara Line.
- West Japan Railway Company: ICOCA and HARUKA
https://www.westjr.co.jp/global/en/ticket/icoca-haruka/ Haruka trains leaving KIX mostly run to Kyoto Station,
arriving at Track 30.
A few Haruka trains run beyond Kyoto to Maibara Station;
they arrive at Track 0 in Kyoto Station.
The both tracks are around the north end, near the Central Gate.
- West Japan Railway Company: Maps of Kyoto Station
https://www.westjr.co.jp/global/en/timetable/pdf/station_kyoto.pdf Trains on the Nara Line depart at Tracks 8 to 10.
Inari Station is the second stop for Local trains.
Note: Any rapid trains skip Inari Station.
You can go out with your Haruka discount ticket
then go in with your ICOCA Card,
each through any automatic gate at the Central Gate;
when you go out from Inari Station with your same ICOCA Card,
the fare 140 yen is deducted.
- Japan Guide: IC cards
https://www.japan-guide.com/e/e2359_003.html : If this is your first time to use a Japanese IC transportation card,
check "How to use IC cards?" part of this article.
Alternatively,
you can change trains inside the gates of Kyoto Station
then make a fare adjustment when you get to Inari Station,
using your ICOCA Card,
either at a fare adjustment machine or at a manned gate.
Enjoy your trips!