According to Hitchins-Kemp, Robert Kempe of Gissing and Elizabeth De Grey had 4 sons and 1 daughter: Thomas, Robert, William, and Edward, and Elizabeth.
Muskett, in his pedigree (p.236), lists sons first then daughters:
John, son and heir
Thomas
Robert
Ann
Martha
Rebecca
Elizabeth who married Josias Fawether of Brisett in Suffolk.
Mary who married Richard Mann
Muskett also informs that the inquisition post mortem for Thomas was in the 20th year of King James (1622 or 1623).
The baronetage of England: or The History of the English baronets, Volume 1 by William Betham pages 467 – 471
Hitchin-Kemp, Frederick.(1902). "A general history of the kemp and kempe families of great britain and her colonies, with arms, pedigrees, portraits, illustrations of seats, foundations, chantries, monuments, documents, old jewels, curios, etc". Published: London: The Leadenhall Press: New York: C. Scribner’s Sons. [database on-line]. Provo UT. The Generations Network, Inc. Online: https://archive.org/stream/generalhistoryof00kemp#page/n5/mode/2up