The Japanese government has announced visa exemptions for 68 countries/regions including New Zealand are planned to resume from 12:00AM October 11th 2022.

https://www.mofa.go.jp/j_info/visit/visa/short/novisa.html

https://www.nz.emb-japan.go.jp/itpr_en/corona_vrs.html

The requirements for ERFS certificate also will no longer apply. However, COVID-19 pre departure tests will be required for people without valid vaccination certificates.

https://www.mhlw.go.jp/stf/covid-19/bordercontrol.html

https://www.mhlw.go.jp/stf/covid-19/border_vaccine.html

Now that the PCR test requirement has gone, there are no restrictions on Japanese people who wish to travel overseas and return.