I think this comes to the heart of trying to see so much with so few days available. I would prefer two days in Mahabalipuram.
Kanchipuram is a hectic Indian town; Mamallapuram (Mahabalipuram) is a much smaller and more relaxed affair. The temples in Mahabs are World Heritage Listed and the registered monuments include rock relief carvings. The temples in Kanchi include important current pilgrimage destinations.
The other consideration is the open times of the temples - the 5 main / popular temples in Kanchi are each closed between 12:00pm and 4:00pm (one of them may open at 3:00 - I forget which). That said, if you want to squeeze Kanchi in then you can.
There should be a bus between Mahabs and Kanchi; although equally you can take a car which gives you some flexibility. There are local trains from Kanchi to Chennai:
https://erail.in/trains-between-stations/kanchipuram-CJ/chennai-egmore-MS
