The manga for InuYasha finished in a series called "Inuyasha: The Final Act". In this Naraku does indeed die, as the story finishes out the manga series. He finally dies after InuYasha and his group, along with Sesshomaru, combine their powers and destroy him.
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Yes he is finally killed in the manga after the characters combine their powers until he is just a head attached to the jewel shards and after a few more chapters Inuyasha destroys all but the main jewel and Kagome purifies the last jewels and he disintegrates.
Naraku finally died in episode 25 of the final act pierced by Kagome's purified arrow in his final form, a giant spider. He stays alive enough time to tell Kagome about he wishing at the Shikon Jewel but he doesn't specify what he wished. Which Kagome figures out later. But he does stay dormant in episode 26 of the final act because some demons inside the Shikon Jewel tell Inuyasha that even though he's dead he will awaken if Kagome yields into her fears and makes the wrong wish on the jewel.
Naraku sends several "puppets" out to do his dirty work. Those puppets die. But he technically dies in episode157 name is Stampede of the Countless Demon Rats.
Inyuash defeats naraku in the last season The final chapter.
I think that it's episode 157: Destroy Naraku With the Adamant Barrage! I like this episode too.
It's near the very end of the series when InuYasha and the gang are trying to defeat Naraku and for like 7 episodes Naraku is in that HUGE barrier that's so powerful. Kohaku is with Sesshoumaru the whole time.
Kagura dies in Episode 2 of The Final Act and I don't know when Kanna dies, but I know she does. Kanna creates a mirror demon and takes all the damage to herself, and then, just before she shatters into a million tiny pieces , she tells Kagome that Naraku will die from the light and Kagome puzzles over this. But yeah, they do die...
Why don't you watch Inuyasha for yourself and figure that out. She dies in episode 35 but is revived, then again in Inuyasha the final act (watch all 26 episodes to see when rin dies; but is saved once more, also Kagura, kanna, kikyo and Naraku die in this season as well).