1. He kept in contact with his parents every day during the journey.
2. He got in contact with his parents every day during the journey.
3. He kept in touch with his parents every day during the journey.
4. He got in touch with his parents every day during the journey.
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Are they all the same in meaning?
2 and 4 are the same
1 and 3 are almost self-contradictory.
If he kept in touch, that means he got in touch on a regular, continuing basis. You can't do that every day.
So, 1 and 3 are really not good English.