Urawa had been held to home draws in their previous two matches and they ended up empty-handed at fellow high-fliers Frontale despite taking a second-minute lead through Tsukasa Umesaki.
That advantage lasted barely a minute before Renato drew the hosts level and Yoshito Okubo's strike 12 minutes from time settled the contest in favour of the Kawasaki outfit.
Urawa's fourth defeat of the season saw them remain behind non-playing Sagan Tosu at the top of the standings on goal difference and they are now only a point clear of Frontale.
The hosts were on course for the win themselves as goals from Kensuke Nagai (25) and Joshua Kennedy (47 penalty) sandwiched an equaliser from Shuto Yamamoto (42) and had them leading going into the final eight minutes, but goals from Davi and Endoh saw Antlers sneak the win.
In-form Gamba Osaka kept the heat up on the top four with a 2-0 win at Omiya Ardija, goals in either half from Yasuyuki Konno and Takashi Usami earning their side a fifth successive league win during which run they have scored 15 goals and conceded just once.
A 90th-minute Kunie Kitamoto goal earned seventh-placed Vissel Kobe a 1-0 home win over Albirex Niigata, while Shimizu S-Pulse beat Tokushima Vortis by the same scoreline thanks to Kazuya Murata's 69th-minute strike.
Yokohama, without a win in five games, led 2-0 thanks to goals from Rafinha (20) and Manabu Saito (23) but eighth-placed Kashiwa hit back to snatch a draw thanks to efforts from Daisuke Suzuki (32) and Tatsuya Masushima (71).