I've had several DP's. Rolands, Kurzweil and not a Yamaha. The Rolands weren't bad (A-90, not available anymore), the Kurzweils were horrible (PC2,K2600XS) the PC88 model was not so bad. My yamaha S90-es i love. The action is pretty good, much better dynamic range that the others.
As for the sound, a DP sounds like a recording of a piano because it's samples ARE recordings of pianos. For playing in an ensemble (musical theatre pits for me) they are more than fine. For solo recitals, I'd pass and just use my old model M.
To get even better sound from the DP I'll hook it up to a Muse Receptor and use a plug-in. The settings available give me lots of control over all aspects of the sound. Including the sensitivity of how the device responds to velocity data. But this is pretty expensive way to go. The pianos in the Yamaha are exceptable, for practice.
And as already stated uncountable, the speakers make all the difference. A piano has a large sound board, to have a chance of sounding sort of real, the speakers also must be large. I use only 15", never smaller, and I have an 18" sub-woofer for the really low sounds, like from church organ pedals.