Layover in Hong Kong, Flying in from Kuala Lumpur

by Cathay Pacific/Cathay Dragon to HK with a layover of >8 hours before my next flight to Osaka at 1:25am with the same airline. Understand that a visa is not necessary for Malaysian citizens. But, are we allowed to exit and re-enter the airport during the layover to have a quick tour of Hong Kong without complications? Thank you.